aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Copter: support FENCE_OPTIONS on copter

Browse Source
This commit is contained in:
Andy Piper 2024-06-26 10:09:26 +01:00 committed by Peter Barker
parent 5bc3727145
commit 2877472f27
1 changed files with 14 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
ArduCopter/mode.cpp
View File

@ -347,6 +347,20 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
return false;
}
#if AP_FENCE_ENABLED
// may not be allowed to change mode if recovering from fence breach
if (!ignore_checks &&
fence.enabled() &&
fence.option_enabled(AC_Fence::OPTIONS::DISABLE_MODE_CHANGE) &&
fence.get_breaches() &&
!flightmode->is_landing() &&
get_control_mode_reason() == ModeReason::FENCE_BREACHED &&
!ap.land_complete) {
mode_change_failed(new_flightmode, "in fence recovery");
return false;
}
#endif
if (!new_flightmode->init(ignore_checks)) {
mode_change_failed(new_flightmode, "init failed");
return false;