From 9e86f4dc432e554a861d39a8184856b043059f33 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 4 Mar 2022 16:41:48 +0000
Subject: [PATCH] AP_Vehicle: add AC_Fence

---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 13 +++++++++++++
 libraries/AP_Vehicle/AP_Vehicle.h   |  5 +++++
 2 files changed, 18 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 401f2de7d9..497df2f5f9 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -93,6 +93,12 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
     AP_SUBGROUPINFO(ais, "AIS_",  13, AP_Vehicle, AP_AIS),
 #endif
 
+#if AC_FENCE
+    // @Group: FENCE_
+    // @Path: ../AC_Fence/AC_Fence.cpp
+    AP_SUBGROUPINFO(fence, "FENCE_", 14, AP_Vehicle, AC_Fence),
+#endif
+
     AP_GROUPEND
 };
 
@@ -232,6 +238,10 @@ void AP_Vehicle::setup()
     ais.init();
 #endif
 
+#if AC_FENCE
+    fence.init();
+#endif
+
     custom_rotations.init();
 
     gcs().send_text(MAV_SEVERITY_INFO, "ArduPilot Ready");
@@ -325,6 +335,9 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
 #if HAL_INS_ACCELCAL_ENABLED
     SCHED_TASK(accel_cal_update,      10,    100, 245),
 #endif
+#if AC_FENCE
+    SCHED_TASK_CLASS(AC_Fence,     &vehicle.fence,          update,                   10, 100, 248),
+#endif
 #if AP_AIS_ENABLED
     SCHED_TASK_CLASS(AP_AIS,       &vehicle.ais,            update,                    5, 100, 249),
 #endif
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 7a6e0b0502..dc3c1982cd 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -53,6 +53,7 @@
 #include <SITL/SITL.h>
 #include <AP_CustomRotations/AP_CustomRotations.h>
 #include <AP_AIS/AP_AIS.h>
+#include <AC_Fence/AC_Fence.h>
 
 class AP_Vehicle : public AP_HAL::HAL::Callbacks {
 
@@ -397,6 +398,10 @@ protected:
     AP_AIS ais;
 #endif
 
+#if AC_FENCE
+    AC_Fence fence;
+#endif
+
     static const struct AP_Param::GroupInfo var_info[];
     static const struct AP_Scheduler::Task scheduler_tasks[];