Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
ArduPlane/fence.cpp
View File

@ -8,9 +8,11 @@
void Plane::fence_check()
{
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;
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
|| control_mode->mode_number() == Mode::Number::QLAND
|| 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);
// check for new breaches; new_breaches is bitmask of fence types breached
const uint8_t new_breaches = fence.check(is_in_landing);
const bool armed = arming.is_armed();
const uint8_t new_breaches = fence.check(landing_or_landed);
/*
if we are either disarmed or we are currently not in breach and