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Plane: Remove unused geofence enable reason

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This commit is contained in:
Michael du Breuil 2019-09-16 13:11:07 -07:00 committed by Andrew Tridgell
parent 68fac23aaa
commit a1abfbc222
7 changed files with 12 additions and 24 deletions
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6
ArduPlane/AP_Arming.cpp
View File

@ -148,11 +148,11 @@ bool AP_Arming_Plane::arm_checks(AP_Arming::Method method)
#if GEOFENCE_ENABLED == ENABLED
if (plane.g.fence_autoenable == 3) {
if (!plane.geofence_set_enabled(true, AUTO_TOGGLED)) {
if (!plane.geofence_set_enabled(true)) {
gcs().send_text(MAV_SEVERITY_WARNING, "Fence: cannot enable for arming");
return false;
} else if (!plane.geofence_prearm_check()) {
plane.geofence_set_enabled(false, AUTO_TOGGLED);
plane.geofence_set_enabled(false);
return false;
} else {
gcs().send_text(MAV_SEVERITY_WARNING, "Fence: auto-enabled for arming");
@ -222,7 +222,7 @@ bool AP_Arming_Plane::disarm(void)
#if GEOFENCE_ENABLED == ENABLED
if (plane.g.fence_autoenable == 3) {
plane.geofence_set_enabled(false, AUTO_TOGGLED);
plane.geofence_set_enabled(false);
}
#endif

4
ArduPlane/GCS_Mavlink.cpp
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@ -900,12 +900,12 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
}
switch((uint16_t)packet.param1) {
case 0:
if (! plane.geofence_set_enabled(false, GCS_TOGGLED)) {
if (! plane.geofence_set_enabled(false)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
case 1:
if (! plane.geofence_set_enabled(true, GCS_TOGGLED)) {
if (! plane.geofence_set_enabled(true)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;

2
ArduPlane/Plane.h
View File

@ -909,7 +909,7 @@ private:
void geofence_load(void);
bool geofence_present(void);
void geofence_update_pwm_enabled_state();
bool geofence_set_enabled(bool enable, GeofenceEnableReason r);
bool geofence_set_enabled(bool enable);
bool geofence_enabled(void);
bool geofence_set_floor_enabled(bool floor_enable);
bool geofence_check_minalt(void);

4
ArduPlane/commands_logic.cpp
View File

@ -136,7 +136,7 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
case MAV_CMD_DO_FENCE_ENABLE:
#if GEOFENCE_ENABLED == ENABLED
if (cmd.p1 != 2) {
if (!geofence_set_enabled((bool) cmd.p1, AUTO_TOGGLED)) {
if (!geofence_set_enabled((bool) cmd.p1)) {
gcs().send_text(MAV_SEVERITY_WARNING, "Unable to set fence. Enabled state to %u", cmd.p1);
} else {
gcs().send_text(MAV_SEVERITY_INFO, "Set fence enabled state to %u", cmd.p1);
@ -389,7 +389,7 @@ void Plane::do_land(const AP_Mission::Mission_Command& cmd)
#if GEOFENCE_ENABLED == ENABLED
if (g.fence_autoenable == 1) {
if (! geofence_set_enabled(false, AUTO_TOGGLED)) {
if (! geofence_set_enabled(false)) {
gcs().send_text(MAV_SEVERITY_NOTICE, "Disable fence failed (autodisable)");
} else {
gcs().send_text(MAV_SEVERITY_NOTICE, "Fence disabled (autodisable)");

10
ArduPlane/defines.h
View File

@ -86,16 +86,6 @@ enum ChannelMixing {
MIXING_DNDN_SWP = 8,
};
/*
* The cause for the most recent fence enable
*/
typedef enum GeofenceEnableReason {
NOT_ENABLED = 0, //The fence is not enabled
PWM_TOGGLED, //Fence enabled/disabled by PWM signal
AUTO_TOGGLED, //Fence auto enabled/disabled at takeoff.
GCS_TOGGLED //Fence enabled/disabled by the GCS via Mavlink
} GeofenceEnableReason;
// PID broadcast bitmask
enum tuning_pid_bits {
TUNING_BITS_ROLL = (1 << 0),

8
ArduPlane/geofence.cpp
View File

@ -27,7 +27,6 @@ static struct GeofenceState {
int32_t guided_lng;
uint16_t breach_count;
uint8_t breach_type;
GeofenceEnableReason enable_reason;
uint8_t old_switch_position;
uint8_t num_points;
bool boundary_uptodate;
@ -184,13 +183,13 @@ void Plane::geofence_update_pwm_enabled_state()
}
if (geofence_state->is_pwm_enabled != is_pwm_enabled) {
geofence_set_enabled(is_pwm_enabled, PWM_TOGGLED);
geofence_set_enabled(is_pwm_enabled);
geofence_state->is_pwm_enabled = is_pwm_enabled;
}
}
//return true on success, false on failure
bool Plane::geofence_set_enabled(bool enable, GeofenceEnableReason r)
bool Plane::geofence_set_enabled(bool enable)
{
if (geofence_state == nullptr && enable) {
geofence_load();
@ -204,7 +203,6 @@ bool Plane::geofence_set_enabled(bool enable, GeofenceEnableReason r)
//turn the floor back on if it had been off
geofence_set_floor_enabled(true);
}
geofence_state->enable_reason = r;
return true;
}
@ -523,7 +521,7 @@ bool Plane::geofence_present(void) {
return false;
}
bool Plane::geofence_set_enabled(bool enable, GeofenceEnableReason r) {
bool Plane::geofence_set_enabled(bool enable) {
return false;
}

2
ArduPlane/takeoff.cpp
View File

@ -270,7 +270,7 @@ void Plane::complete_auto_takeoff(void)
{
#if GEOFENCE_ENABLED == ENABLED
if (g.fence_autoenable > 0) {
if (! geofence_set_enabled(true, AUTO_TOGGLED)) {
if (! geofence_set_enabled(true)) {
gcs().send_text(MAV_SEVERITY_NOTICE, "Enable fence failed (cannot autoenable");
} else {
gcs().send_text(MAV_SEVERITY_INFO, "Fence enabled (autoenabled)");