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ArduPlane: change AC_FENCE to AP_FENCE_ENABLED

This commit is contained in:
Iampete1 2022-07-19 12:33:13 +01:00 committed by Andrew Tridgell
parent 1b160205ab
commit a592f76282
10 changed files with 16 additions and 16 deletions
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4
ArduPlane/ArduPlane.cpp
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@ -272,7 +272,7 @@ void Plane::update_logging2(void)
void Plane::afs_fs_check(void) void Plane::afs_fs_check(void)
{ {
// perform AFS failsafe checks // perform AFS failsafe checks
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
const bool fence_breached = fence.get_breaches() != 0; const bool fence_breached = fence.get_breaches() != 0;
#else #else
const bool fence_breached = false; const bool fence_breached = false;
@ -344,7 +344,7 @@ void Plane::one_second_loop()
void Plane::three_hz_loop() void Plane::three_hz_loop()
{ {
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
fence_check(); fence_check();
#endif #endif
} }

2
ArduPlane/Attitude.cpp
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@ -65,7 +65,7 @@ bool Plane::stick_mixing_enabled(void)
// never stick mix without valid RC // never stick mix without valid RC
return false; return false;
} }
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
const bool stickmixing = fence_stickmixing(); const bool stickmixing = fence_stickmixing();
#else #else
const bool stickmixing = true; const bool stickmixing = true;

6
ArduPlane/Parameters.cpp
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@ -1385,7 +1385,7 @@ void Plane::load_parameters(void)
} }
} }
#if AC_FENCE #if AP_FENCE_ENABLED
enum ap_var_type ptype_fence_type; enum ap_var_type ptype_fence_type;
AP_Int8 *fence_type_new = (AP_Int8*)AP_Param::find("FENCE_TYPE", &ptype_fence_type); AP_Int8 *fence_type_new = (AP_Int8*)AP_Param::find("FENCE_TYPE", &ptype_fence_type);
if (fence_type_new && !fence_type_new->configured()) { if (fence_type_new && !fence_type_new->configured()) {
@ -1470,7 +1470,7 @@ void Plane::load_parameters(void)
} }
} }
} }
#endif // AC_FENCE #endif // AP_FENCE_ENABLED
#if AP_TERRAIN_AVAILABLE #if AP_TERRAIN_AVAILABLE
g.terrain_follow.convert_parameter_width(AP_PARAM_INT8); g.terrain_follow.convert_parameter_width(AP_PARAM_INT8);
@ -1523,7 +1523,7 @@ void Plane::load_parameters(void)
#endif // HAL_INS_NUM_HARMONIC_NOTCH_FILTERS #endif // HAL_INS_NUM_HARMONIC_NOTCH_FILTERS
// PARAMETER_CONVERSION - Added: Mar-2022 // PARAMETER_CONVERSION - Added: Mar-2022
#if AC_FENCE #if AP_FENCE_ENABLED
AP_Param::convert_class(g.k_param_fence, &fence, fence.var_info, 0, 0, true); AP_Param::convert_class(g.k_param_fence, &fence, fence.var_info, 0, 0, true);
#endif #endif

2
ArduPlane/Plane.h
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@ -975,7 +975,7 @@ private:
void handle_battery_failsafe(const char* type_str, const int8_t action); void handle_battery_failsafe(const char* type_str, const int8_t action);
bool failsafe_in_landing_sequence() const; // returns true if the vehicle is in landing sequence. Intended only for use in failsafe code. bool failsafe_in_landing_sequence() const; // returns true if the vehicle is in landing sequence. Intended only for use in failsafe code.
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
// fence.cpp // fence.cpp
void fence_check(); void fence_check();
bool fence_stickmixing() const; bool fence_stickmixing() const;

6
ArduPlane/commands_logic.cpp
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@ -142,7 +142,7 @@ bool Plane::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 == ENABLED #if AP_FENCE_ENABLED
if (cmd.p1 == 0) { // disable fence if (cmd.p1 == 0) { // disable fence
plane.fence.enable(false); plane.fence.enable(false);
gcs().send_text(MAV_SEVERITY_INFO, "Fence disabled"); gcs().send_text(MAV_SEVERITY_INFO, "Fence disabled");
@ -418,7 +418,7 @@ void Plane::do_land(const AP_Mission::Mission_Command& cmd)
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_LAND); set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_LAND);
} }
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
plane.fence.auto_disable_fence_for_landing(); plane.fence.auto_disable_fence_for_landing();
#endif #endif
} }
@ -601,7 +601,7 @@ bool Plane::verify_takeoff()
auto_state.takeoff_complete = true; auto_state.takeoff_complete = true;
next_WP_loc = prev_WP_loc = current_loc; next_WP_loc = prev_WP_loc = current_loc;
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
plane.fence.auto_enable_fence_after_takeoff(); plane.fence.auto_enable_fence_after_takeoff();
#endif #endif

2
ArduPlane/fence.cpp
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@ -2,7 +2,7 @@
// Code to integrate AC_Fence library with main ArduPlane code // Code to integrate AC_Fence library with main ArduPlane code
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
// 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 Plane::fence_check() void Plane::fence_check()

2
ArduPlane/mode_qland.cpp
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@ -16,7 +16,7 @@ bool ModeQLand::_enter()
#if LANDING_GEAR_ENABLED == ENABLED #if LANDING_GEAR_ENABLED == ENABLED
plane.g2.landing_gear.deploy_for_landing(); plane.g2.landing_gear.deploy_for_landing();
#endif #endif
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
plane.fence.auto_disable_fence_for_landing(); plane.fence.auto_disable_fence_for_landing();
#endif #endif
return true; return true;

2
ArduPlane/mode_takeoff.cpp
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@ -114,7 +114,7 @@ void ModeTakeoff::update()
plane.set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_NORMAL); plane.set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_NORMAL);
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
plane.fence.auto_enable_fence_after_takeoff(); plane.fence.auto_enable_fence_after_takeoff();
#endif #endif
} }

4
ArduPlane/quadplane.cpp
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@ -3139,7 +3139,7 @@ bool QuadPlane::verify_vtol_takeoff(const AP_Mission::Mission_Command &cmd)
// todo: why are you doing this, I want to delete it. // todo: why are you doing this, I want to delete it.
set_alt_target_current(); set_alt_target_current();
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
plane.fence.auto_enable_fence_after_takeoff(); plane.fence.auto_enable_fence_after_takeoff();
#endif #endif
@ -3271,7 +3271,7 @@ bool QuadPlane::verify_vtol_land(void)
poscontrol.pilot_correction_done = false; poscontrol.pilot_correction_done = false;
pos_control->set_lean_angle_max_cd(0); pos_control->set_lean_angle_max_cd(0);
poscontrol.xy_correction.zero(); poscontrol.xy_correction.zero();
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
plane.fence.auto_disable_fence_for_landing(); plane.fence.auto_disable_fence_for_landing();
#endif #endif
#if LANDING_GEAR_ENABLED == ENABLED #if LANDING_GEAR_ENABLED == ENABLED

2
ArduPlane/radio.cpp
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@ -178,7 +178,7 @@ void Plane::read_radio()
control_failsafe(); control_failsafe();
#if AC_FENCE == ENABLED #if AP_FENCE_ENABLED
const bool stickmixing = fence_stickmixing(); const bool stickmixing = fence_stickmixing();
#else #else
const bool stickmixing = true; const bool stickmixing = true;