Sub: Fence moved to vehicle
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@ -84,9 +84,6 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
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SCHED_TASK(one_hz_loop, 1, 100, 33),
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SCHED_TASK_CLASS(GCS, (GCS*)&sub._gcs, update_receive, 400, 180, 36),
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SCHED_TASK_CLASS(GCS, (GCS*)&sub._gcs, update_send, 400, 550, 39),
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#if AC_FENCE == ENABLED
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SCHED_TASK_CLASS(AC_Fence, &sub.fence, update, 10, 100, 42),
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#endif
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#if HAL_MOUNT_ENABLED
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SCHED_TASK_CLASS(AP_Mount, &sub.camera_mount, update, 50, 75, 45),
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#endif
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@ -250,7 +247,7 @@ void Sub::three_hz_loop()
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#if AC_FENCE == ENABLED
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// check if we have breached a fence
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fence_check();
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#endif // AC_FENCE_ENABLED
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#endif // AP_FENCE_ENABLED
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ServoRelayEvents.update_events();
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}
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@ -543,12 +543,6 @@ const AP_Param::Info Sub::var_info[] = {
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// @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
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GOBJECT(scheduler, "SCHED_", AP_Scheduler),
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#if AC_FENCE == ENABLED
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// @Group: FENCE_
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// @Path: ../libraries/AC_Fence/AC_Fence.cpp
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GOBJECT(fence, "FENCE_", AC_Fence),
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#endif
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#if AVOIDANCE_ENABLED == ENABLED
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// @Group: AVOID_
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// @Path: ../libraries/AC_Avoidance/AC_Avoid.cpp
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@ -742,6 +736,11 @@ void Sub::load_parameters()
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AP_Param::convert_class(info.old_key, &airspeed, airspeed.var_info, old_index, old_top_element, false);
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#endif
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// PARAMETER_CONVERSION - Added: Mar-2022
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#if AP_FENCE_ENABLED
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AP_Param::convert_class(g.k_param_fence_old, &fence, fence.var_info, 0, 0, true);
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#endif
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}
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void Sub::convert_old_parameters()
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@ -87,7 +87,7 @@ public:
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k_param_pos_control, // Position Control
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k_param_wp_nav, // Waypoint navigation
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k_param_mission, // Mission library
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k_param_fence, // Fence Library
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k_param_fence_old, // only used for conversion
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k_param_terrain, // Terrain database
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k_param_rally, // Disabled
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k_param_circle_nav, // Disabled
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@ -56,7 +56,6 @@
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#include <AC_WPNav/AC_WPNav.h> // Waypoint navigation library
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#include <AC_WPNav/AC_Loiter.h>
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#include <AC_WPNav/AC_Circle.h> // circle navigation library
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#include <AC_Fence/AC_Fence.h> // Fence library
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#include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler
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#include <AP_Scheduler/PerfInfo.h> // loop perf monitoring
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#include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
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@ -344,11 +343,6 @@ private:
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AP_Mount camera_mount;
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#endif
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// AC_Fence library to reduce fly-aways
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#if AC_FENCE == ENABLED
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AC_Fence fence;
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#endif
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#if AVOIDANCE_ENABLED == ENABLED
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AC_Avoid avoid;
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#endif
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@ -230,11 +230,6 @@
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MASK_LOG_MOTBATT
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#endif
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// Enable/disable Fence
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#ifndef AC_FENCE
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#define AC_FENCE ENABLED
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#endif
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#ifndef AC_RALLY
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#define AC_RALLY DISABLED
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#endif
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@ -24,10 +24,6 @@ void Sub::init_ardupilot()
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g2.gripper.init();
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#endif
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#if AC_FENCE == ENABLED
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fence.init();
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#endif
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// initialise notify system
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notify.init();
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