mirror of https://github.com/ArduPilot/ardupilot
39 lines
1.4 KiB
C++
39 lines
1.4 KiB
C++
#include "Rover.h"
|
|
|
|
// fence_check - ask fence library to check for breaches and initiate the response
|
|
void Rover::fence_check()
|
|
{
|
|
uint8_t new_breaches; // the type of fence that has been breached
|
|
const uint8_t orig_breaches = g2.fence.get_breaches();
|
|
|
|
// check for a breach
|
|
new_breaches = g2.fence.check();
|
|
|
|
// return immediately if motors are not armed
|
|
if (!arming.is_armed()) {
|
|
return;
|
|
}
|
|
|
|
// if there is a new breach take action
|
|
if (new_breaches) {
|
|
// if the user wants some kind of response and motors are armed
|
|
if (g2.fence.get_action() != AC_FENCE_ACTION_REPORT_ONLY) {
|
|
// if we are within 100m of the fence, RTL
|
|
if (g2.fence.get_breach_distance(new_breaches) <= AC_FENCE_GIVE_UP_DISTANCE) {
|
|
if (!set_mode(mode_rtl, MODE_REASON_FENCE_BREACH)) {
|
|
set_mode(mode_hold, MODE_REASON_FENCE_BREACH);
|
|
}
|
|
} else {
|
|
// if more than 100m outside the fence just force to HOLD
|
|
set_mode(mode_hold, MODE_REASON_FENCE_BREACH);
|
|
}
|
|
}
|
|
// log an error in the dataflash
|
|
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, new_breaches);
|
|
|
|
} else if (orig_breaches) {
|
|
// record clearing of breach
|
|
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, ERROR_CODE_ERROR_RESOLVED);
|
|
}
|
|
}
|