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Plane: address minor review comments

This commit is contained in:
Andy Piper 2024-07-21 16:54:23 +02:00 committed by Peter Barker
parent 51304848fc
commit f8e5c7c1c4
1 changed files with 4 additions and 4 deletions
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8
ArduPlane/fence.cpp
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@ -8,9 +8,11 @@
void Plane::fence_check() void Plane::fence_check()
{ {
const uint8_t orig_breaches = fence.get_breaches(); const uint8_t orig_breaches = fence.get_breaches();
const bool armed = arming.is_armed();
uint16_t mission_id = plane.mission.get_current_nav_cmd().id; uint16_t mission_id = plane.mission.get_current_nav_cmd().id;
bool is_in_landing = plane.flight_stage == AP_FixedWing::FlightStage::LAND bool landing_or_landed = plane.flight_stage == AP_FixedWing::FlightStage::LAND
|| !armed
#if HAL_QUADPLANE_ENABLED #if HAL_QUADPLANE_ENABLED
|| control_mode->mode_number() == Mode::Number::QLAND || control_mode->mode_number() == Mode::Number::QLAND
|| quadplane.in_vtol_land_descent() || quadplane.in_vtol_land_descent()
@ -18,9 +20,7 @@ void Plane::fence_check()
|| (plane.is_land_command(mission_id) && plane.mission.state() == AP_Mission::MISSION_RUNNING); || (plane.is_land_command(mission_id) && plane.mission.state() == AP_Mission::MISSION_RUNNING);
// check for new breaches; new_breaches is bitmask of fence types breached // check for new breaches; new_breaches is bitmask of fence types breached
const uint8_t new_breaches = fence.check(is_in_landing); const uint8_t new_breaches = fence.check(landing_or_landed);
const bool armed = arming.is_armed();
/* /*
if we are either disarmed or we are currently not in breach and if we are either disarmed or we are currently not in breach and