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Copter: address minor review comments

This commit is contained in:
Andy Piper 2024-07-21 16:54:12 +02:00 committed by Peter Barker
parent ccfbfddf7e
commit 51304848fc
2 changed files with 3 additions and 2 deletions
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4
ArduCopter/fence.cpp
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@ -10,10 +10,10 @@ void Copter::fence_check()
{ {
const uint8_t orig_breaches = fence.get_breaches(); const uint8_t orig_breaches = fence.get_breaches();
bool is_in_landing = flightmode->is_landing() || ap.land_complete || !motors->armed(); bool is_landing_or_landed = flightmode->is_landing() || ap.land_complete || !motors->armed();
// check for new breaches; new_breaches is bitmask of fence types breached // check for new breaches; new_breaches is bitmask of fence types breached
const uint8_t new_breaches = fence.check(is_in_landing); const uint8_t new_breaches = fence.check(is_landing_or_landed);
// we still don't do anything when disarmed, but we do check for fence breaches. // we still don't do anything when disarmed, but we do check for fence breaches.
// fence pre-arm check actually checks if any fence has been breached // fence pre-arm check actually checks if any fence has been breached

1
ArduCopter/mode.cpp
View File

@ -354,6 +354,7 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
fence.option_enabled(AC_Fence::OPTIONS::DISABLE_MODE_CHANGE) && fence.option_enabled(AC_Fence::OPTIONS::DISABLE_MODE_CHANGE) &&
fence.get_breaches() && fence.get_breaches() &&
!flightmode->is_landing() && !flightmode->is_landing() &&
motors->armed() &&
get_control_mode_reason() == ModeReason::FENCE_BREACHED && get_control_mode_reason() == ModeReason::FENCE_BREACHED &&
!ap.land_complete) { !ap.land_complete) {
mode_change_failed(new_flightmode, "in fence recovery"); mode_change_failed(new_flightmode, "in fence recovery");