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GCS_MAVLink: use bitmask based enablement for fences

This commit is contained in:
Andy Piper 2024-01-13 18:02:54 +00:00 committed by Peter Barker
parent 738586342c
commit f73154349b
1 changed files with 15 additions and 11 deletions
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26
libraries/GCS_MAVLink/GCS_Fence.cpp
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@ -16,20 +16,24 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_fence_enable(const mavlink_command_int
return MAV_RESULT_UNSUPPORTED; return MAV_RESULT_UNSUPPORTED;
} }
switch ((uint16_t)packet.param1) { uint8_t fences = AC_FENCE_ALL_FENCES;
case 0: // disable fence if (uint8_t(packet.param2)) {
fence->enable(false); fences = uint8_t(packet.param2);
}
switch (AC_Fence::MavlinkFenceActions(packet.param1)) {
case AC_Fence::MavlinkFenceActions::DISABLE_FENCE:
fence->enable(false, fences);
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
case 1: // enable fence case AC_Fence::MavlinkFenceActions::ENABLE_FENCE:
if (!fence->present()) if (!(fence->present() & fences)) {
{
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
} }
fence->enable(true); fence->enable(true, fences);
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
case 2: // disable fence floor only case AC_Fence::MavlinkFenceActions::DISABLE_ALT_MIN_FENCE:
fence->disable_floor(); fence->enable(false, AC_FENCE_TYPE_ALT_MIN);
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
default: default:
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
@ -82,7 +86,7 @@ void GCS_MAVLINK::send_fence_status() const
mavlink_breach_type = FENCE_BREACH_BOUNDARY; mavlink_breach_type = FENCE_BREACH_BOUNDARY;
} }
// report on Avoidance liminting // report on Avoidance limiting
uint8_t breach_mitigation = FENCE_MITIGATE_UNKNOWN; uint8_t breach_mitigation = FENCE_MITIGATE_UNKNOWN;
#if AP_AVOIDANCE_ENABLED && !APM_BUILD_TYPE(APM_BUILD_ArduPlane) #if AP_AVOIDANCE_ENABLED && !APM_BUILD_TYPE(APM_BUILD_ArduPlane)
const AC_Avoid* avoid = AC_Avoid::get_singleton(); const AC_Avoid* avoid = AC_Avoid::get_singleton();