Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-18 06:38:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_Fence: write log event when fence enabled or disabled

Browse Source
This commit is contained in:
Peter Barker 2020-06-02 12:27:28 +10:00 committed by Andrew Tridgell
parent f158533fe9
commit 973b103a4a
1 changed files with 6 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AC_Fence/AC_Fence.cpp
View File

@ -2,6 +2,7 @@
#include <AP_AHRS/AP_AHRS.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Logger/AP_Logger.h>
extern const AP_HAL::HAL& hal;
@ -95,6 +96,11 @@ AC_Fence::AC_Fence()
/// enable the Fence code generally; a master switch for all fences
void AC_Fence::enable(bool value)
{
if (_enabled && !value) {
AP::logger().Write_Event(LogEvent::FENCE_DISABLE);
} else if (!_enabled && value) {
AP::logger().Write_Event(LogEvent::FENCE_ENABLE);
}
_enabled = value;
if (!value) {
clear_breach(AC_FENCE_TYPE_ALT_MAX | AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON);