Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Mission: address minor review comments

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
libraries/AP_Mission/AP_Mission.cpp
View File

@ -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 case MAV_CMD_DO_FENCE_ENABLE: // MAV ID: 207
cmd.p1 = packet.param1; // action 0=disable, 1=enable, 2=disable floor cmd.p1 = packet.param1; // action 0=disable, 1=enable, 2=disable floor
// packet.param2; // bitmask see FENCE_TYPE enum
break; break;
case MAV_CMD_DO_AUX_FUNCTION: 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; 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); uint8_t fences = fence->enable_configured(false);
fence->print_fence_message("disabled", fences); fence->print_fence_message("disabled", fences);
return true; 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); uint8_t fences = fence->enable_configured(true);
fence->print_fence_message("enabled", fences); fence->print_fence_message("enabled", fences);
return true; 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->disable_floor();
fence->print_fence_message("disabled", AC_FENCE_TYPE_ALT_MIN); fence->print_fence_message("disabled", AC_FENCE_TYPE_ALT_MIN);
return true; return true;