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Plane: reject guided destinations outside the fence

This commit is contained in:
Andy Piper 2024-07-16 18:41:09 +02:00 committed by Peter Barker
parent 2877472f27
commit e4f76cd27d
1 changed files with 8 additions and 0 deletions
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8
ArduPlane/GCS_Mavlink.cpp
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@ -841,6 +841,14 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_do_reposition(const mavlink_com
return MAV_RESULT_DENIED;
}
#if AP_FENCE_ENABLED
// reject destination if outside the fence
if (!plane.fence.check_destination_within_fence(requested_position)) {
LOGGER_WRITE_ERROR(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
return MAV_RESULT_DENIED;
}
#endif
// location is valid load and set
if (((int32_t)packet.param2 & MAV_DO_REPOSITION_FLAGS_CHANGE_MODE) ||
(plane.control_mode == &plane.mode_guided)) {