From cb8210599ee2a103723ea89152c8793661f1519c Mon Sep 17 00:00:00 2001 From: Raouf Date: Tue, 24 Jul 2018 13:19:12 +0900 Subject: [PATCH] AC_Fence: add always land option --- libraries/AC_Fence/AC_Fence.cpp | 2 +- libraries/AC_Fence/AC_Fence.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AC_Fence/AC_Fence.cpp b/libraries/AC_Fence/AC_Fence.cpp index 1832294af0..cf512a30d9 100644 --- a/libraries/AC_Fence/AC_Fence.cpp +++ b/libraries/AC_Fence/AC_Fence.cpp @@ -24,7 +24,7 @@ const AP_Param::GroupInfo AC_Fence::var_info[] = { // @Param: ACTION // @DisplayName: Fence Action // @Description: What action should be taken when fence is breached - // @Values: 0:Report Only,1:RTL or Land + // @Values: 0:Report Only,1:RTL or Land, 2:Always land // @User: Standard AP_GROUPINFO("ACTION", 2, AC_Fence, _action, AC_FENCE_ACTION_RTL_AND_LAND), diff --git a/libraries/AC_Fence/AC_Fence.h b/libraries/AC_Fence/AC_Fence.h index 3a43316ee2..2f69578c0a 100644 --- a/libraries/AC_Fence/AC_Fence.h +++ b/libraries/AC_Fence/AC_Fence.h @@ -17,7 +17,7 @@ // valid actions should a fence be breached #define AC_FENCE_ACTION_REPORT_ONLY 0 // report to GCS that boundary has been breached but take no further action #define AC_FENCE_ACTION_RTL_AND_LAND 1 // return to launch and, if that fails, land - +#define AC_FENCE_ACTION_ALWAYS_LAND 2 // always land // default boundaries #define AC_FENCE_ALT_MAX_DEFAULT 100.0f // default max altitude is 100m #define AC_FENCE_ALT_MIN_DEFAULT -10.0f // default maximum depth in meters