Rover: add mission Terminate action for fence breach

2023-09-21 16:23:24 +02:00 · 2023-09-21 16:23:24 +02:00 · 3a11a1cf0d
commit 3a11a1cf0d
parent 0029457dc6
1 changed files with 3 additions and 0 deletions
--- a/Rover/fence.cpp
+++ b/Rover/fence.cpp
@ -42,6 +42,9 @@ void Rover::fence_check()
                        set_mode(mode_hold, ModeReason::FENCE_BREACHED);
                    }
                    break;
+                case FailsafeAction::Terminate:
+                    arming.disarm(AP_Arming::Method::FENCEBREACH);
+                    break;
                }
            } else {
                // if more than 100m outside the fence just force to HOLD