mirror of https://github.com/ArduPilot/ardupilot
63 lines
2.4 KiB
C++
63 lines
2.4 KiB
C++
#include "Rover.h"
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// fence_check - ask fence library to check for breaches and initiate the response
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void Rover::fence_check()
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{
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#if AP_FENCE_ENABLED
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uint8_t new_breaches; // the type of fence that has been breached
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const uint8_t orig_breaches = fence.get_breaches();
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// check for a breach
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new_breaches = fence.check();
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// return immediately if motors are not armed
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if (!arming.is_armed()) {
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return;
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}
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// if there is a new breach take action
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if (new_breaches) {
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// if the user wants some kind of response and motors are armed
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if ((FailsafeAction)fence.get_action() != FailsafeAction::None) {
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// if within 100m of the fence, it will take the action specified by the FENCE_ACTION parameter
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if (fence.get_breach_distance(new_breaches) <= AC_FENCE_GIVE_UP_DISTANCE) {
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switch ((FailsafeAction)fence.get_action()) {
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case FailsafeAction::None:
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break;
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case FailsafeAction::SmartRTL:
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if (set_mode(mode_smartrtl, ModeReason::BATTERY_FAILSAFE)) {
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break;
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}
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FALLTHROUGH;
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case FailsafeAction::RTL:
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if (set_mode(mode_rtl, ModeReason::BATTERY_FAILSAFE)) {
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break;
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}
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FALLTHROUGH;
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case FailsafeAction::Hold:
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set_mode(mode_hold, ModeReason::BATTERY_FAILSAFE);
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break;
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case FailsafeAction::SmartRTL_Hold:
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if (!set_mode(mode_smartrtl, ModeReason::FENCE_BREACHED)) {
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set_mode(mode_hold, ModeReason::FENCE_BREACHED);
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}
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break;
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case FailsafeAction::Terminate:
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arming.disarm(AP_Arming::Method::FENCEBREACH);
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break;
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}
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} else {
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// if more than 100m outside the fence just force to HOLD
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set_mode(mode_hold, ModeReason::FENCE_BREACHED);
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}
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}
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LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
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} else if (orig_breaches) {
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// record clearing of breach
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LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE,
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LogErrorCode::ERROR_RESOLVED);
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}
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#endif // AP_FENCE_ENABLED
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}
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