Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: cover more cases in fence breach mode change 

we want to allow all landing sequence mode changes
This commit is contained in:
Andrew Tridgell 2022-10-24 06:19:09 +11:00
parent 2ed679f0a8
commit 6a005c893e
1 changed files with 21 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
ArduPlane/system.cpp
View File

@ -199,6 +199,26 @@ void Plane::startup_ground(void)
}
#if AP_FENCE_ENABLED
/*
return true if a mode reason is an automatic mode change due to
landing sequencing.
*/
static bool mode_reason_is_landing_sequence(const ModeReason reason)
{
switch (reason) {
case ModeReason::RTL_COMPLETE_SWITCHING_TO_FIXEDWING_AUTOLAND:
case ModeReason::RTL_COMPLETE_SWITCHING_TO_VTOL_LAND_RTL:
case ModeReason::QRTL_INSTEAD_OF_RTL:
case ModeReason::QLAND_INSTEAD_OF_RTL:
return true;
default:
break;
}
return false;
}
#endif // AP_FENCE_ENABLED
bool Plane::set_mode(Mode &new_mode, const ModeReason reason)
{
@ -253,7 +273,7 @@ bool Plane::set_mode(Mode &new_mode, const ModeReason reason)
fence.option_enabled(AC_Fence::OPTIONS::DISABLE_MODE_CHANGE) &&
fence.get_breaches() &&
in_fence_recovery() &&
reason != ModeReason::RTL_COMPLETE_SWITCHING_TO_FIXEDWING_AUTOLAND) {
!mode_reason_is_landing_sequence(reason)) {
gcs().send_text(MAV_SEVERITY_NOTICE,"Mode change to %s denied, in fence recovery", new_mode.name());
AP_Notify::events.user_mode_change_failed = 1;
return false;