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Rover: change AC_FENCE to AP_FENCE_ENABLED

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Iampete1 2022-07-19 12:33:13 +01:00 committed by Andrew Tridgell
parent cf1e1b2969
commit 9d4d0c10eb
5 changed files with 7 additions and 7 deletions
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2
Rover/AP_Rally.cpp
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@ -21,7 +21,7 @@
bool AP_Rally_Rover::is_valid(const Location &rally_point) const bool AP_Rally_Rover::is_valid(const Location &rally_point) const
{ {
#if AC_FENCE #if AP_FENCE_ENABLED
if (!rover.fence.check_destination_within_fence(rally_point)) { if (!rover.fence.check_destination_within_fence(rally_point)) {
return false; return false;
} }

4
Rover/Parameters.cpp
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@ -843,7 +843,7 @@ void Rover::load_parameters(void)
AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED); AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED);
#endif #endif
#if AP_AIRSPEED_ENABLED | AP_AIS_ENABLED | AC_FENCE #if AP_AIRSPEED_ENABLED | AP_AIS_ENABLED | AP_FENCE_ENABLED
// Find G2's Top Level Key // Find G2's Top Level Key
AP_Param::ConversionInfo info; AP_Param::ConversionInfo info;
if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) { if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
@ -864,7 +864,7 @@ void Rover::load_parameters(void)
#endif #endif
// PARAMETER_CONVERSION - Added: Mar-2022 // PARAMETER_CONVERSION - Added: Mar-2022
#if AC_FENCE #if AP_FENCE_ENABLED
AP_Param::convert_class(info.old_key, &fence, fence.var_info, 17, 4049, false); AP_Param::convert_class(info.old_key, &fence, fence.var_info, 17, 4049, false);
#endif #endif
} }

4
Rover/fence.cpp
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@ -3,7 +3,7 @@
// fence_check - ask fence library to check for breaches and initiate the response // fence_check - ask fence library to check for breaches and initiate the response
void Rover::fence_check() void Rover::fence_check()
{ {
#if AC_FENCE #if AP_FENCE_ENABLED
uint8_t new_breaches; // the type of fence that has been breached uint8_t new_breaches; // the type of fence that has been breached
const uint8_t orig_breaches = fence.get_breaches(); const uint8_t orig_breaches = fence.get_breaches();
@ -57,5 +57,5 @@ void Rover::fence_check()
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE, AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE,
LogErrorCode::ERROR_RESOLVED); LogErrorCode::ERROR_RESOLVED);
} }
#endif // AC_FENCE #endif // AP_FENCE_ENABLED
} }

2
Rover/mode_auto.cpp
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@ -481,7 +481,7 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
break; break;
case MAV_CMD_DO_FENCE_ENABLE: case MAV_CMD_DO_FENCE_ENABLE:
#if AC_FENCE #if AP_FENCE_ENABLED
if (cmd.p1 == 0) { //disable if (cmd.p1 == 0) { //disable
rover.fence.enable(false); rover.fence.enable(false);
gcs().send_text(MAV_SEVERITY_INFO, "Fence Disabled"); gcs().send_text(MAV_SEVERITY_INFO, "Fence Disabled");

2
Rover/system.cpp
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@ -220,7 +220,7 @@ bool Rover::set_mode(Mode &new_mode, ModeReason reason)
control_mode = &new_mode; control_mode = &new_mode;
#if AC_FENCE #if AP_FENCE_ENABLED
// pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover // pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
// this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe) // this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
// but it should be harmless to disable the fence temporarily in these situations as well // but it should be harmless to disable the fence temporarily in these situations as well