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AC_Fence: address minor review comments

This commit is contained in:
Andy Piper 2024-07-21 13:29:04 +02:00 committed by Peter Barker
parent 55075961b2
commit ccfbfddf7e
2 changed files with 5 additions and 3 deletions
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2
ArduCopter/fence.cpp
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@ -84,7 +84,7 @@ void Copter::fence_check()
LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches)); LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
} else if (orig_breaches && fence.get_breaches() == 0) { } else if (orig_breaches && fence.get_breaches() == 0) {
if (!copter.ap.land_complete) { if (!copter.ap.land_complete) {
GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Fence breach cleared"); GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Fence breach cleared");
} }
// record clearing of breach // record clearing of breach

6
libraries/AC_Fence/AC_Fence.cpp
View File

@ -144,7 +144,7 @@ const AP_Param::GroupInfo AC_Fence::var_info[] = {
// @Description: When bit 0 is set sisable mode change following fence action until fence breach is cleared. When bit 1 is set the allowable flight areas is the union of all polygon and circle fence areas instead of the intersection, which means a fence breach occurs only if you are outside all of the fence areas. // @Description: When bit 0 is set sisable mode change following fence action until fence breach is cleared. When bit 1 is set the allowable flight areas is the union of all polygon and circle fence areas instead of the intersection, which means a fence breach occurs only if you are outside all of the fence areas.
// @Bitmask: 0:Disable mode change following fence action until fence breach is cleared, 1:Allow union of inclusion areas // @Bitmask: 0:Disable mode change following fence action until fence breach is cleared, 1:Allow union of inclusion areas
// @User: Standard // @User: Standard
AP_GROUPINFO_FRAME("OPTIONS", 11, AC_Fence, _options, static_cast<uint16_t>(AC_FENCE_OPTIONS_DEFAULT), AP_PARAM_FRAME_PLANE | AP_PARAM_FRAME_COPTER), AP_GROUPINFO_FRAME("OPTIONS", 11, AC_Fence, _options, static_cast<uint16_t>(AC_FENCE_OPTIONS_DEFAULT), AP_PARAM_FRAME_PLANE | AP_PARAM_FRAME_COPTER | AP_PARAM_FRAME_TRICOPTER | AP_PARAM_FRAME_HELI),
AP_GROUPEND AP_GROUPEND
}; };
@ -237,7 +237,9 @@ void AC_Fence::update()
#endif #endif
} }
/// enable the Fence code generally; a master switch for all fences // enable or disable configured fences present in fence_types
// also updates the bitmask of auto enabled fences if update_auto_mask is true
// returns a bitmask of fences that were changed
uint8_t AC_Fence::enable(bool value, uint8_t fence_types, bool update_auto_mask) uint8_t AC_Fence::enable(bool value, uint8_t fence_types, bool update_auto_mask)
{ {
uint8_t fences = _configured_fences.get() & fence_types; uint8_t fences = _configured_fences.get() & fence_types;