Copter: Fence moved to vehicle

ArduCopter/Copter.cpp

@@ -175,9 +175,6 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(three_hz_loop,          3,     75, 57),
     SCHED_TASK_CLASS(AP_ServoRelayEvents,  &copter.ServoRelayEvents,      update_events, 50,  75,  60),
     SCHED_TASK_CLASS(AP_Baro,              &copter.barometer,             accumulate,    50,  90,  63),
-#if AC_FENCE == ENABLED
-    SCHED_TASK_CLASS(AC_Fence,             &copter.fence,                 update,        10, 100,  66),
-#endif
 #if PRECISION_LANDING == ENABLED
     SCHED_TASK(update_precland,      400,     50,  69),
 #endif
@@ -579,7 +576,7 @@ void Copter::three_hz_loop()
 #if AC_FENCE == ENABLED
     // check if we have breached a fence
     fence_check();
-#endif // AC_FENCE_ENABLED
+#endif // AP_FENCE_ENABLED
 
 
     // update ch6 in flight tuning

ArduCopter/Copter.h

@@ -119,9 +119,6 @@
 #if MODE_FOLLOW_ENABLED == ENABLED
  # include <AP_Follow/AP_Follow.h>
 #endif
-#if AC_FENCE == ENABLED
- # include <AC_Fence/AC_Fence.h>
-#endif
 #if AP_TERRAIN_AVAILABLE
  # include <AP_Terrain/AP_Terrain.h>
 #endif
@@ -160,6 +157,14 @@
 #include <AP_Scripting/AP_Scripting.h>
 #endif
 
+#if AC_AVOID_ENABLED && !AP_FENCE_ENABLED
+  #error AC_Avoidance relies on AP_FENCE_ENABLED which is disabled
+#endif
+
+#if AC_OAPATHPLANNER_ENABLED && !AP_FENCE_ENABLED
+  #error AP_OAPathPlanner relies on AP_FENCE_ENABLED which is disabled
+#endif
+
 // Local modules
 #ifdef USER_PARAMS_ENABLED
 #include "UserParameters.h"
@@ -482,11 +487,6 @@ private:
     AP_Mount camera_mount;
 #endif
 
-    // AC_Fence library to reduce fly-aways
-#if AC_FENCE == ENABLED
-    AC_Fence fence;
-#endif
-
 #if AC_AVOID_ENABLED == ENABLED
     AC_Avoid avoid;
 #endif

ArduCopter/Parameters.cpp

@@ -611,12 +611,6 @@ const AP_Param::Info Copter::var_info[] = {
     // @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
     GOBJECT(scheduler, "SCHED_", AP_Scheduler),
 
-#if AC_FENCE == ENABLED
-    // @Group: FENCE_
-    // @Path: ../libraries/AC_Fence/AC_Fence.cpp
-    GOBJECT(fence,      "FENCE_",   AC_Fence),
-#endif
-
     // @Group: AVOID_
     // @Path: ../libraries/AC_Avoidance/AC_Avoid.cpp
 #if AC_AVOID_ENABLED == ENABLED
@@ -1285,6 +1279,11 @@ void Copter::load_parameters(void)
     g.rtl_altitude.convert_parameter_width(AP_PARAM_INT16);
 #endif
 
+    // PARAMETER_CONVERSION - Added: Mar-2022
+#if AP_FENCE_ENABLED
+    AP_Param::convert_class(g.k_param_fence_old, &fence, fence.var_info, 0, 0, true);
+#endif
+
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 
     // setup AP_Param frame type flags

ArduCopter/Parameters.h

@@ -143,7 +143,7 @@ public:
         k_param_gpslock_limit,          // deprecated - remove
         k_param_geofence_limit,         // deprecated - remove
         k_param_altitude_limit,         // deprecated - remove
-        k_param_fence,
+        k_param_fence_old,              // only used for conversion
         k_param_gps_glitch,             // deprecated
         k_param_baro_glitch,            // 71 - deprecated
 

ArduCopter/config.h

@@ -622,11 +622,6 @@
 // Fence, Rally and Terrain and AC_Avoidance defaults
 //
 
-// Enable/disable Fence
-#ifndef AC_FENCE
- #define AC_FENCE ENABLED
-#endif
-
 #ifndef AC_RALLY
  #define AC_RALLY   ENABLED
 #endif
@@ -643,10 +638,6 @@
  #define AC_OAPATHPLANNER_ENABLED   !HAL_MINIMIZE_FEATURES
 #endif
 
-#if AC_AVOID_ENABLED && !AC_FENCE
-  #error AC_Avoidance relies on AC_FENCE which is disabled
-#endif
-
 #if MODE_FOLLOW_ENABLED && !AC_AVOID_ENABLED
   #error Follow Mode relies on AC_AVOID which is disabled
 #endif

ArduCopter/system.cpp

@@ -31,10 +31,6 @@ void Copter::init_ardupilot()
     g2.gripper.init();
 #endif
 
-#if AC_FENCE == ENABLED
-    fence.init();
-#endif
-
     // init winch
 #if WINCH_ENABLED == ENABLED
     g2.winch.init();