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AC_Fence: remove AC_FENCE_TYPE_NONE define

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0 is the appropriate value for a bitmask which is empty
This commit is contained in:
Peter Barker 2017-12-15 21:06:56 +11:00 committed by Francisco Ferreira
parent ed82421f27
commit 588b0c17c8
2 changed files with 14 additions and 25 deletions
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38
libraries/AC_Fence/AC_Fence.cpp
View File

@ -74,16 +74,7 @@ const AP_Param::GroupInfo AC_Fence::var_info[] = {
/// Default constructor.
AC_Fence::AC_Fence(const AP_AHRS_NavEKF& ahrs) :
_ahrs(ahrs),
_alt_max_backup(0),
_circle_radius_backup(0),
_alt_max_breach_distance(0),
_circle_breach_distance(0),
_home_distance(0),
_breached_fences(AC_FENCE_TYPE_NONE),
_breach_time(0),
_breach_count(0),
_manual_recovery_start_ms(0)
_ahrs(ahrs)
{
AP_Param::setup_object_defaults(this, var_info);
@ -108,10 +99,9 @@ void AC_Fence::enable(bool value)
uint8_t AC_Fence::get_enabled_fences() const
{
if (!_enabled) {
return AC_FENCE_TYPE_NONE;
}else{
return _enabled_fences;
return 0;
}
return _enabled_fences;
}
/// pre_arm_check - returns true if all pre-takeoff checks have completed successfully
@ -120,12 +110,12 @@ bool AC_Fence::pre_arm_check(const char* &fail_msg) const
fail_msg = nullptr;
// if not enabled or not fence set-up always return true
if (!_enabled || _enabled_fences == AC_FENCE_TYPE_NONE) {
if (!_enabled || !_enabled_fences) {
return true;
}
// check no limits are currently breached
if (_breached_fences != AC_FENCE_TYPE_NONE) {
if (_breached_fences) {
fail_msg = "vehicle outside fence";
return false;
}
@ -284,22 +274,22 @@ bool AC_Fence::check_fence_circle()
/// check - returns bitmask of fence types breached (if any)
uint8_t AC_Fence::check()
{
uint8_t ret = AC_FENCE_TYPE_NONE;
uint8_t ret = 0;
// return immediately if disabled
if (!_enabled || _enabled_fences == AC_FENCE_TYPE_NONE) {
return AC_FENCE_TYPE_NONE;
if (!_enabled || !_enabled_fences) {
return 0;
}
// check if pilot is attempting to recover manually
if (_manual_recovery_start_ms != 0) {
// we ignore any fence breaches during the manual recovery period which is about 10 seconds
if ((AP_HAL::millis() - _manual_recovery_start_ms) < AC_FENCE_MANUAL_RECOVERY_TIME_MIN) {
return AC_FENCE_TYPE_NONE;
} else {
// recovery period has passed so reset manual recovery time and continue with fence breach checks
_manual_recovery_start_ms = 0;
return 0;
}
// recovery period has passed so reset manual recovery time
// and continue with fence breach checks
_manual_recovery_start_ms = 0;
}
// maximum altitude fence check
@ -359,7 +349,7 @@ bool AC_Fence::check_destination_within_fence(const Location_Class& loc)
void AC_Fence::record_breach(uint8_t fence_type)
{
// if we haven't already breached a limit, update the breach time
if (_breached_fences == AC_FENCE_TYPE_NONE) {
if (!_breached_fences) {
_breach_time = AP_HAL::millis();
}
@ -407,7 +397,7 @@ float AC_Fence::get_breach_distance(uint8_t fence_type) const
void AC_Fence::manual_recovery_start()
{
// return immediate if we haven't breached a fence
if (_breached_fences == AC_FENCE_TYPE_NONE) {
if (!_breached_fences) {
return;
}

1
libraries/AC_Fence/AC_Fence.h
View File

@ -10,7 +10,6 @@
#include <AP_Common/Location.h>
// bit masks for enabled fence types. Used for TYPE parameter
#define AC_FENCE_TYPE_NONE 0 // fence disabled
#define AC_FENCE_TYPE_ALT_MAX 1 // high alt fence which usually initiates an RTL
#define AC_FENCE_TYPE_CIRCLE 2 // circular horizontal fence (usually initiates an RTL)
#define AC_FENCE_TYPE_POLYGON 4 // polygon horizontal fence