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Plane: allow mode switch on fence breach for RTL_AUTOLAND 

when we are in a fence breach we by default disallow mode changes, but
we need to allow for the switch to AUTO if the reason is we are
entering a landing sequence, which is part of the RTL process which is
the fence action
This commit is contained in:
Andrew Tridgell 2022-10-23 18:00:29 +11:00
parent bdce9d5cb3
commit 71fdf37055
1 changed files with 6 additions and 2 deletions
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8
ArduPlane/system.cpp
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@ -248,8 +248,12 @@ bool Plane::set_mode(Mode &new_mode, const ModeReason reason)
#if AP_FENCE_ENABLED #if AP_FENCE_ENABLED
// may not be allowed to change mode if recovering from fence breach // may not be allowed to change mode if recovering from fence breach
if (hal.util->get_soft_armed() && fence.enabled() && fence.option_enabled(AC_Fence::OPTIONS::DISABLE_MODE_CHANGE) && if (hal.util->get_soft_armed() &&
fence.get_breaches() && in_fence_recovery()) { fence.enabled() &&
fence.option_enabled(AC_Fence::OPTIONS::DISABLE_MODE_CHANGE) &&
fence.get_breaches() &&
in_fence_recovery() &&
reason != ModeReason::RTL_COMPLETE_SWITCHING_TO_FIXEDWING_AUTOLAND) {
gcs().send_text(MAV_SEVERITY_NOTICE,"Mode change to %s denied, in fence recovery", new_mode.name()); 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; AP_Notify::events.user_mode_change_failed = 1;
return false; return false;