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AC_Fence: return failure message

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This commit is contained in:
Randy Mackay 2017-03-24 13:38:19 +09:00
parent 8171645876
commit c1a25c25f7
2 changed files with 6 additions and 2 deletions
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6
libraries/AC_Fence/AC_Fence.cpp
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@ -108,8 +108,10 @@ uint8_t AC_Fence::get_enabled_fences() const
}
/// pre_arm_check - returns true if all pre-takeoff checks have completed successfully
bool AC_Fence::pre_arm_check() const
bool AC_Fence::pre_arm_check(const char* &fail_msg) const
{
fail_msg = nullptr;
// if not enabled or not fence set-up always return true
if (!_enabled || _enabled_fences == AC_FENCE_TYPE_NONE) {
return true;
@ -117,11 +119,13 @@ bool AC_Fence::pre_arm_check() const
// check no limits are currently breached
if (_breached_fences != AC_FENCE_TYPE_NONE) {
fail_msg = "vehicle outside fence";
return false;
}
// if we have horizontal limits enabled, check inertial nav position is ok
if ((_enabled_fences & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON))>0 && !_inav.get_filter_status().flags.horiz_pos_abs && !_inav.get_filter_status().flags.pred_horiz_pos_abs) {
fail_msg = "fence requires position";
return false;
}

2
libraries/AC_Fence/AC_Fence.h
View File

@ -49,7 +49,7 @@ public:
uint8_t get_enabled_fences() const;
/// pre_arm_check - returns true if all pre-takeoff checks have completed successfully
bool pre_arm_check() const;
bool pre_arm_check(const char* &fail_msg) const;
///
/// methods to check we are within the boundaries and recover