Plane: fixed fence re-enable after fence breach #29730
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andyp1per
approved these changes
Apr 9, 2025
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May as well update this to use the new enum value too. Line 34 in 5233716 |
allows for continue mission after fence breach with pilot command to change WP
done |
peterbarker
requested changes
Apr 9, 2025
| @@ -193,6 +203,11 @@ bool Plane::fence_stickmixing(void) const | |||
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| bool Plane::in_fence_recovery() const | |||
| { | |||
| if (control_mode == &mode_auto && !mission.get_in_landing_sequence_flag()) { | |||
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I was surprised to see that on master we have a separate boolean for in_return_path() - I think we might need a clause in here for that state.
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it is tricky to see how that will work, the flag gets set even if we're not using RET_AUTOLAND=4
we'd need to check for the flag not being set
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Perhaps we should say the current patches are a significant improvement and create an issue for this case, then?
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If after a fence breach the user commands a WP change to a WP not in the landing sequence in AUTO mode or disables and re-enables the fence then the fence should be re-activated