ArduCopter: Use auto enable and auto disable from AC_Fence

ArduCopter/Copter.h

@@ -746,8 +746,6 @@ private:
     // fence.cpp
 #if AC_FENCE == ENABLED
     void fence_check();
-    void autoenable_fence_after_takeoff(void);
-    void disable_fence_for_landing(void);
 #endif
 
     // heli.cpp

ArduCopter/fence.cpp

@@ -83,39 +83,4 @@ void Copter::fence_check()
     }
 }
 
-/*
-  called when an auto-takeoff is complete
- */
-void Copter::autoenable_fence_after_takeoff(void)
-{
-#if AC_FENCE == ENABLED
-    switch(fence.auto_enabled()) {
-        case AC_Fence::AutoEnable::ALWAYS_ENABLED:
-        case AC_Fence::AutoEnable::ENABLE_DISABLE_FLOOR_ONLY:
-            fence.enable(true);
-            break;
-        default:
-            // fence does not auto-enable in other takeoff conditions
-            break;
-    }
-#endif
-}
-
-void Copter::disable_fence_for_landing(void)
-{
-    switch (fence.auto_enabled()) {
-        case AC_Fence::AutoEnable::ALWAYS_ENABLED:
-            fence.enable(false);
-            gcs().send_text(MAV_SEVERITY_NOTICE, "Fence disabled (auto disable)");
-            break;
-        case AC_Fence::AutoEnable::ENABLE_DISABLE_FLOOR_ONLY:
-            fence.disable_floor();
-            gcs().send_text(MAV_SEVERITY_NOTICE, "Fence floor disabled (auto disable)");
-            break;
-        default:
-            // fence does not auto-disable in other landing conditions
-            break;
-    }
-}
-
 #endif

ArduCopter/mode_auto.cpp

@@ -252,7 +252,7 @@ void ModeAuto::land_start(const Vector3f& destination)
     copter.landinggear.deploy_for_landing();
 
 #if AC_FENCE == ENABLED
-    copter.disable_fence_for_landing();
+    copter.fence.auto_disable_fence_for_landing();
 #endif
 }
 
@@ -1522,8 +1522,10 @@ bool ModeAuto::verify_takeoff()
         // retract the landing gear
         copter.landinggear.retract_after_takeoff();
 
+#if AC_FENCE == ENABLED
         // auto-enable the fence after takeoff
-        copter.autoenable_fence_after_takeoff();
+        copter.fence.auto_enable_fence_after_takeoff();
+#endif
     }
 
     return reached_wp_dest;

ArduCopter/mode_guided.cpp

@@ -398,8 +398,10 @@ void ModeGuided::takeoff_run()
         // optionally retract landing gear
         copter.landinggear.retract_after_takeoff();
 
+#if AC_FENCE == ENABLED
         // takeoff complete, enable fence
-        copter.autoenable_fence_after_takeoff();
+        copter.fence.auto_enable_fence_after_takeoff();
+#endif
 
         // switch to position control mode but maintain current target
         const Vector3f target = wp_nav->get_wp_destination();

ArduCopter/mode_land.cpp

@@ -40,8 +40,10 @@ bool ModeLand::init(bool ignore_checks)
     // optionally deploy landing gear
     copter.landinggear.deploy_for_landing();
 
+#if AC_FENCE == ENABLED
     // disable the fence on landing
-    copter.disable_fence_for_landing();
+    copter.fence.auto_disable_fence_for_landing();
+#endif
 
     return true;
 }