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AP_Mission: address minor review comments

This commit is contained in:
Andy Piper 2024-07-21 13:29:21 +02:00 committed by Peter Barker
parent d845af9bc3
commit 55075961b2
2 changed files with 3 additions and 4 deletions
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1
libraries/AP_Mission/AP_Mission.cpp
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@ -1239,7 +1239,6 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
case MAV_CMD_DO_FENCE_ENABLE: // MAV ID: 207
cmd.p1 = packet.param1; // action 0=disable, 1=enable, 2=disable floor
// packet.param2; // bitmask see FENCE_TYPE enum
break;
case MAV_CMD_DO_AUX_FUNCTION:

6
libraries/AP_Mission/AP_Mission_Commands.cpp
View File

@ -357,15 +357,15 @@ bool AP_Mission::start_command_fence(const AP_Mission::Mission_Command& cmd)
return false;
}
if (cmd.p1 == 0) { // disable fence
if (cmd.p1 == uint8_t(AC_Fence::MavlinkFenceActions::DISABLE_FENCE)) { // disable fence
uint8_t fences = fence->enable_configured(false);
fence->print_fence_message("disabled", fences);
return true;
} else if (cmd.p1 == 1) { // enable fence
} else if (cmd.p1 == uint8_t(AC_Fence::MavlinkFenceActions::ENABLE_FENCE)) { // enable fence
uint8_t fences = fence->enable_configured(true);
fence->print_fence_message("enabled", fences);
return true;
} else if (cmd.p1 == 2) { // disable fence floor only
} else if (cmd.p1 == uint8_t(AC_Fence::MavlinkFenceActions::DISABLE_ALT_MIN_FENCE)) { // disable fence floor only
fence->disable_floor();
fence->print_fence_message("disabled", AC_FENCE_TYPE_ALT_MIN);
return true;