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ArduPlane: Add conversion from ArduPlane geofence param to AC_Fence param

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James O'Shannessy 2021-02-16 11:41:56 +11:00 committed by Peter Barker
parent 6f7ba3b037
commit c316711351
2 changed files with 8 additions and 1 deletions
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7
ArduPlane/Parameters.cpp
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@ -1331,6 +1331,13 @@ const AP_Param::ConversionInfo conversion_table[] = {
{ Parameters::k_param_arming, 3, AP_PARAM_INT8, "ARMING_RUDDER" },
{ Parameters::k_param_compass_enabled_deprecated, 0, AP_PARAM_INT8, "COMPASS_ENABLE" },
{ Parameters::k_param_arming, 128, AP_PARAM_INT16, "ARMING_CHECK" },
{ Parameters::k_param_fence_minalt, 0, AP_PARAM_INT16, "FENCE_ALT_MIN"},
{ Parameters::k_param_fence_maxalt, 0, AP_PARAM_INT16, "FENCE_ALT_MAX"},
{ Parameters::k_param_fence_retalt, 0, AP_PARAM_INT16, "FENCE_RET_ALT"},
{ Parameters::k_param_fence_action, 0, AP_PARAM_INT8, "FENCE_ACTION"},
{ Parameters::k_param_fence_autoenable, 0, AP_PARAM_INT8, "FENCE_AUTOENABLE"},
{ Parameters::k_param_fence_ret_rally, 0, AP_PARAM_INT8, "FENCE_RET_RALLY"},
};
void Plane::load_parameters(void)

2
libraries/AC_Fence/AC_Fence.h
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@ -193,7 +193,7 @@ private:
AP_Float _margin; // distance in meters that autopilot's should maintain from the fence to avoid a breach
AP_Int8 _total; // number of polygon points saved in eeprom
AP_Int8 _ret_rally; // return to fence return point or rally point/home
AP_Float _ret_altitude; // return to this altitude
AP_Int16 _ret_altitude; // return to this altitude
// backup fences
float _alt_max_backup; // backup altitude upper limit in meters used to refire the breach if the vehicle continues to move further away