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Plane: fixed re-enable of fence for FENCE_AUTOENABLE=1 

the is an adjustment to the previous fix which only worked when we had
at least one fence element enabled when we were not flying or disarmed
This commit is contained in:
Andrew Tridgell 2024-07-21 08:49:28 +10:00 committed by Peter Barker
parent 0b6a1f4fe7
commit d845af9bc3
1 changed files with 15 additions and 13 deletions
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28
ArduPlane/fence.cpp
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@ -20,6 +20,21 @@ void Plane::fence_check()
// check for new breaches; new_breaches is bitmask of fence types breached
const uint8_t new_breaches = fence.check(is_in_landing);
const bool armed = arming.is_armed();
/*
if we are either disarmed or we are currently not in breach and
we are not flying then clear the state associated with the
previous mode breach handling. This allows the fence state
machine to reset at the end of a fence breach action such as an
RTL and autoland
*/
if (plane.previous_mode_reason == ModeReason::FENCE_BREACHED) {
if (!armed || ((new_breaches == 0 && orig_breaches == 0) && !plane.is_flying())) {
plane.previous_mode_reason = ModeReason::UNKNOWN;
}
}
if (!fence.enabled()) {
// Switch back to the chosen control mode if still in
// GUIDED to the return point
@ -39,19 +54,6 @@ void Plane::fence_check()
return;
}
const bool armed = arming.is_armed();
/*
if we are either disarmed or we are currently not in breach and
we are not flying then clear the state associated with the
previous mode breach handling. This allows the fence state
machine to reset at the end of a fence breach action such as an
RTL and autoland
*/
if (!armed || (new_breaches == 0 && !plane.is_flying())) {
plane.previous_mode_reason = ModeReason::UNKNOWN;
}
// we still don't do anything when disarmed, but we do check for fence breaches.
// fence pre-arm check actually checks if any fence has been breached
// that's not ever going to be true if we don't call check on AP_Fence while disarmed