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AC_Fence: add SmartRTL and Brake actions

This commit is contained in:
chobitsfan 2019-01-24 19:00:42 +09:00 committed by Randy Mackay
parent 8350943e78
commit e7f87f767a
2 changed files with 5 additions and 1 deletions
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3
libraries/AC_Fence/AC_Fence.cpp
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@ -30,7 +30,8 @@ const AP_Param::GroupInfo AC_Fence::var_info[] = {
// @Param: ACTION
// @DisplayName: Fence Action
// @Description: What action should be taken when fence is breached
// @Values: 0:Report Only,1:RTL or Land, 2:Always land
// @Values{Copter}: 0:Report Only,1:RTL or Land,2:Always Land,3:SmartRTL or RTL or Land,4:Brake or Land
// @Values: 0:Report Only,1:RTL or Land
// @User: Standard
AP_GROUPINFO("ACTION", 2, AC_Fence, _action, AC_FENCE_ACTION_RTL_AND_LAND),

3
libraries/AC_Fence/AC_Fence.h
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@ -18,6 +18,9 @@
#define AC_FENCE_ACTION_REPORT_ONLY 0 // report to GCS that boundary has been breached but take no further action
#define AC_FENCE_ACTION_RTL_AND_LAND 1 // return to launch and, if that fails, land
#define AC_FENCE_ACTION_ALWAYS_LAND 2 // always land
#define AC_FENCE_ACTION_SMART_RTL 3 // smartRTL, if that fails, RTL, it that still fails, land
#define AC_FENCE_ACTION_BRAKE 4 // brake, if that fails, land
// default boundaries
#define AC_FENCE_ALT_MAX_DEFAULT 100.0f // default max altitude is 100m
#define AC_FENCE_ALT_MIN_DEFAULT -10.0f // default maximum depth in meters