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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 4b064ecfe5
commit 819f4140b4
1 changed files with 21 additions and 1 deletions
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22
ArduPlane/system.cpp
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@ -197,6 +197,26 @@ 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) bool Plane::set_mode(Mode &new_mode, const ModeReason reason)
{ {
@ -251,7 +271,7 @@ bool Plane::set_mode(Mode &new_mode, const ModeReason reason)
fence.option_enabled(AC_Fence::OPTIONS::DISABLE_MODE_CHANGE) && fence.option_enabled(AC_Fence::OPTIONS::DISABLE_MODE_CHANGE) &&
fence.get_breaches() && fence.get_breaches() &&
in_fence_recovery() && 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()); 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;