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AC_Fence: support FENCE_OPTIONS on copter

This commit is contained in:
Andy Piper 2024-06-26 10:09:08 +01:00 committed by Peter Barker
parent c40b80b100
commit 5bc3727145
1 changed files with 4 additions and 2 deletions
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6
libraries/AC_Fence/AC_Fence.cpp
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@ -36,8 +36,10 @@ extern const AP_HAL::HAL& hal;
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
#define AC_FENCE_CIRCLE_RADIUS_BACKUP_DISTANCE 100.0 // after fence is broken we recreate the fence 100m further out
#define AC_FENCE_OPTIONS_DEFAULT OPTIONS::DISABLE_MODE_CHANGE
#else
#define AC_FENCE_CIRCLE_RADIUS_BACKUP_DISTANCE 20.0 // after fence is broken we recreate the fence 20m further out
#define AC_FENCE_OPTIONS_DEFAULT 0
#endif
//#define AC_FENCE_DEBUG
@ -137,12 +139,12 @@ const AP_Param::GroupInfo AC_Fence::var_info[] = {
// @User: Standard
AP_GROUPINFO_FRAME("AUTOENABLE", 10, AC_Fence, _auto_enabled, static_cast<uint8_t>(AutoEnable::ALWAYS_DISABLED), AP_PARAM_FRAME_PLANE | AP_PARAM_FRAME_COPTER | AP_PARAM_FRAME_TRICOPTER | AP_PARAM_FRAME_HELI),
// @Param{Plane}: OPTIONS
// @Param{Plane, Copter}: OPTIONS
// @DisplayName: Fence options
// @Description: When bit 0 is set sisable mode change following fence action until fence breach is cleared. When bit 1 is set the allowable flight areas is the union of all polygon and circle fence areas instead of the intersection, which means a fence breach occurs only if you are outside all of the fence areas.
// @Bitmask: 0:Disable mode change following fence action until fence breach is cleared, 1:Allow union of inclusion areas
// @User: Standard
AP_GROUPINFO_FRAME("OPTIONS", 11, AC_Fence, _options, static_cast<uint16_t>(OPTIONS::DISABLE_MODE_CHANGE), AP_PARAM_FRAME_PLANE),
AP_GROUPINFO_FRAME("OPTIONS", 11, AC_Fence, _options, static_cast<uint16_t>(AC_FENCE_OPTIONS_DEFAULT), AP_PARAM_FRAME_PLANE | AP_PARAM_FRAME_COPTER),
AP_GROUPEND
};