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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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24
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;
}
switch ((uint16_t)packet.param1) {
case 0: // disable fence
fence->enable(false);
uint8_t fences = AC_FENCE_ALL_FENCES;
if (uint8_t(packet.param2)) {
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;
case 1: // enable fence
if (!fence->present())
{
case AC_Fence::MavlinkFenceActions::ENABLE_FENCE:
if (!(fence->present() & fences)) {
return MAV_RESULT_FAILED;
}
fence->enable(true);
fence->enable(true, fences);
return MAV_RESULT_ACCEPTED;
case 2: // disable fence floor only
fence->disable_floor();
case AC_Fence::MavlinkFenceActions::DISABLE_ALT_MIN_FENCE:
fence->enable(false, AC_FENCE_TYPE_ALT_MIN);
return MAV_RESULT_ACCEPTED;
default:
return MAV_RESULT_FAILED;
@ -82,7 +86,7 @@ void GCS_MAVLINK::send_fence_status() const
mavlink_breach_type = FENCE_BREACH_BOUNDARY;
}
// report on Avoidance liminting
// report on Avoidance limiting
uint8_t breach_mitigation = FENCE_MITIGATE_UNKNOWN;
#if AP_AVOIDANCE_ENABLED && !APM_BUILD_TYPE(APM_BUILD_ArduPlane)
const AC_Avoid* avoid = AC_Avoid::get_singleton();