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GCS_MAVLink: Add reporting of fence floor breaches to GCS_MAVLink

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GCS_MAVLink: Add disabling of fence floor only, per mavlink spec

GCS_MAVLink: Cannot enable a fence if the fence is not present
This commit is contained in:
James O'Shannessy 2020-09-01 12:24:56 +10:00 committed by Peter Barker
parent 0e73b7bce1
commit c2abf27d78
1 changed files with 13 additions and 2 deletions
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15
libraries/GCS_MAVLink/GCS_Fence.cpp
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@ -11,12 +11,20 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_fence_enable(const mavlink_command_lon
}
switch ((uint16_t)packet.param1) {
case 0:
case 0: // disable fence
fence->enable(false);
return MAV_RESULT_ACCEPTED;
case 1:
case 1: // enable fence
if (!fence->present())
{
return MAV_RESULT_FAILED;
}
fence->enable(true);
return MAV_RESULT_ACCEPTED;
case 2: // disable fence floor only
fence->disable_floor();
return MAV_RESULT_ACCEPTED;
default:
return MAV_RESULT_FAILED;
}
@ -56,6 +64,9 @@ void GCS_MAVLINK::send_fence_status() const
// traslate fence library breach types to mavlink breach types
uint8_t mavlink_breach_type = FENCE_BREACH_NONE;
const uint8_t breaches = fence->get_breaches();
if ((breaches & AC_FENCE_TYPE_ALT_MIN) != 0) {
mavlink_breach_type = FENCE_BREACH_MINALT;
}
if ((breaches & AC_FENCE_TYPE_ALT_MAX) != 0) {
mavlink_breach_type = FENCE_BREACH_MAXALT;
}