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Copter: toymode: correct compilation with fence is disabled

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Peter Barker 2018-02-22 10:28:11 +11:00 committed by Randy Mackay
parent 25665c5dd9
commit dc5ef168fd
1 changed files with 6 additions and 0 deletions
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6
ArduCopter/toy_mode.cpp
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@ -635,22 +635,28 @@ void ToyMode::update()
if (new_mode != copter.control_mode) {
load_test.running = false;
#if AC_FENCE == ENABLED
copter.fence.enable(false);
#endif
if (set_and_remember_mode(new_mode, MODE_REASON_TX_COMMAND)) {
gcs().send_text(MAV_SEVERITY_INFO, "Tmode: mode %s", copter.flightmode->name4());
// force fence on in all GPS flight modes
#if AC_FENCE == ENABLED
if (copter.flightmode->requires_GPS()) {
copter.fence.enable(true);
}
#endif
} else {
gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: %u FAILED", (unsigned)new_mode);
if (new_mode == RTL) {
// if we can't RTL then land
gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: LANDING");
set_and_remember_mode(LAND, MODE_REASON_TMODE);
#if AC_FENCE == ENABLED
if (copter.landing_with_GPS()) {
copter.fence.enable(true);
}
#endif
}
}
}