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Copter: correct skyviper-v2450 compilation

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Peter Barker 2024-07-25 18:18:35 +10:00 committed by Andrew Tridgell
parent f3e980d687
commit 58f33087ac
1 changed files with 7 additions and 7 deletions
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14
ArduCopter/toy_mode.cpp
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@ -431,7 +431,7 @@ void ToyMode::update()
if (set_and_remember_mode(Mode::Number::ALT_HOLD, ModeReason::TOY_MODE)) { if (set_and_remember_mode(Mode::Number::ALT_HOLD, ModeReason::TOY_MODE)) {
gcs().send_text(MAV_SEVERITY_INFO, "Tmode: ALT_HOLD update arm"); gcs().send_text(MAV_SEVERITY_INFO, "Tmode: ALT_HOLD update arm");
#if AP_FENCE_ENABLED #if AP_FENCE_ENABLED
copter.fence.enable(false); copter.fence.enable(false, AC_FENCE_ALL_FENCES);
#endif #endif
if (!copter.arming.arm(AP_Arming::Method::MAVLINK)) { if (!copter.arming.arm(AP_Arming::Method::MAVLINK)) {
// go back to LOITER // go back to LOITER
@ -460,7 +460,7 @@ void ToyMode::update()
#endif #endif
} else if (copter.position_ok() && set_and_remember_mode(Mode::Number::LOITER, ModeReason::TOY_MODE)) { } else if (copter.position_ok() && set_and_remember_mode(Mode::Number::LOITER, ModeReason::TOY_MODE)) {
#if AP_FENCE_ENABLED #if AP_FENCE_ENABLED
copter.fence.enable(true); copter.fence.enable(true, AC_FENCE_ALL_FENCES);
#endif #endif
gcs().send_text(MAV_SEVERITY_INFO, "Tmode: LOITER update"); gcs().send_text(MAV_SEVERITY_INFO, "Tmode: LOITER update");
} }
@ -644,14 +644,14 @@ void ToyMode::update()
if (new_mode != copter.flightmode->mode_number()) { if (new_mode != copter.flightmode->mode_number()) {
load_test.running = false; load_test.running = false;
#if AP_FENCE_ENABLED #if AP_FENCE_ENABLED
copter.fence.enable(false); copter.fence.enable(false, AC_FENCE_ALL_FENCES);
#endif #endif
if (set_and_remember_mode(new_mode, ModeReason::TOY_MODE)) { if (set_and_remember_mode(new_mode, ModeReason::TOY_MODE)) {
gcs().send_text(MAV_SEVERITY_INFO, "Tmode: mode %s", copter.flightmode->name4()); gcs().send_text(MAV_SEVERITY_INFO, "Tmode: mode %s", copter.flightmode->name4());
// force fence on in all GPS flight modes // force fence on in all GPS flight modes
#if AP_FENCE_ENABLED #if AP_FENCE_ENABLED
if (copter.flightmode->requires_GPS()) { if (copter.flightmode->requires_GPS()) {
copter.fence.enable(true); copter.fence.enable(true, AC_FENCE_ALL_FENCES);
} }
#endif #endif
} else { } else {
@ -662,7 +662,7 @@ void ToyMode::update()
set_and_remember_mode(Mode::Number::LAND, ModeReason::TOY_MODE); set_and_remember_mode(Mode::Number::LAND, ModeReason::TOY_MODE);
#if AP_FENCE_ENABLED #if AP_FENCE_ENABLED
if (copter.landing_with_GPS()) { if (copter.landing_with_GPS()) {
copter.fence.enable(true); copter.fence.enable(true, AC_FENCE_ALL_FENCES);
} }
#endif #endif
} }
@ -801,7 +801,7 @@ void ToyMode::action_arm(void)
if (needs_gps && copter.arming.gps_checks(false)) { if (needs_gps && copter.arming.gps_checks(false)) {
#if AP_FENCE_ENABLED #if AP_FENCE_ENABLED
// we want GPS and checks are passing, arm and enable fence // we want GPS and checks are passing, arm and enable fence
copter.fence.enable(true); copter.fence.enable(true, AC_FENCE_ALL_FENCES);
#endif #endif
copter.arming.arm(AP_Arming::Method::RUDDER); copter.arming.arm(AP_Arming::Method::RUDDER);
if (!copter.motors->armed()) { if (!copter.motors->armed()) {
@ -817,7 +817,7 @@ void ToyMode::action_arm(void)
} else { } else {
#if AP_FENCE_ENABLED #if AP_FENCE_ENABLED
// non-GPS mode // non-GPS mode
copter.fence.enable(false); copter.fence.enable(false, AC_FENCE_ALL_FENCES);
#endif #endif
copter.arming.arm(AP_Arming::Method::RUDDER); copter.arming.arm(AP_Arming::Method::RUDDER);
if (!copter.motors->armed()) { if (!copter.motors->armed()) {