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

ArduPlane: use fence singleton in afs check

Browse Source
This commit is contained in:
Peter Barker 2022-10-21 12:25:52 +11:00 committed by Andrew Tridgell
parent 7ed190c163
commit 3400d5e4a5
1 changed files with 1 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
ArduPlane/ArduPlane.cpp
View File

@ -277,13 +277,7 @@ void Plane::update_logging25(void)
#if ADVANCED_FAILSAFE == ENABLED #if ADVANCED_FAILSAFE == ENABLED
void Plane::afs_fs_check(void) void Plane::afs_fs_check(void)
{ {
// perform AFS failsafe checks afs.check(failsafe.AFS_last_valid_rc_ms);
#if AP_FENCE_ENABLED
const bool fence_breached = fence.get_breaches() != 0;
#else
const bool fence_breached = false;
#endif
afs.check(fence_breached, failsafe.AFS_last_valid_rc_ms);
} }
#endif #endif