mirror of https://github.com/ArduPilot/ardupilot
AC_Fence: add always land option
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@ -24,7 +24,7 @@ const AP_Param::GroupInfo AC_Fence::var_info[] = {
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// @Param: ACTION
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// @Param: ACTION
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// @DisplayName: Fence Action
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// @DisplayName: Fence Action
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// @Description: What action should be taken when fence is breached
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// @Description: What action should be taken when fence is breached
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// @Values: 0:Report Only,1:RTL or Land
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// @Values: 0:Report Only,1:RTL or Land, 2:Always land
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// @User: Standard
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// @User: Standard
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AP_GROUPINFO("ACTION", 2, AC_Fence, _action, AC_FENCE_ACTION_RTL_AND_LAND),
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AP_GROUPINFO("ACTION", 2, AC_Fence, _action, AC_FENCE_ACTION_RTL_AND_LAND),
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@ -17,7 +17,7 @@
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// valid actions should a fence be breached
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// valid actions should a fence be breached
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#define AC_FENCE_ACTION_REPORT_ONLY 0 // report to GCS that boundary has been breached but take no further action
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#define AC_FENCE_ACTION_REPORT_ONLY 0 // report to GCS that boundary has been breached but take no further action
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#define AC_FENCE_ACTION_RTL_AND_LAND 1 // return to launch and, if that fails, land
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#define AC_FENCE_ACTION_RTL_AND_LAND 1 // return to launch and, if that fails, land
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#define AC_FENCE_ACTION_ALWAYS_LAND 2 // always land
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// default boundaries
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// default boundaries
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#define AC_FENCE_ALT_MAX_DEFAULT 100.0f // default max altitude is 100m
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#define AC_FENCE_ALT_MAX_DEFAULT 100.0f // default max altitude is 100m
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#define AC_FENCE_ALT_MIN_DEFAULT -10.0f // default maximum depth in meters
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#define AC_FENCE_ALT_MIN_DEFAULT -10.0f // default maximum depth in meters
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