Plane: reject guided destinations outside the fence

ArduPilot · Jul 17, 2024 · 43566e0 · 43566e0
1 parent 61f462b
commit 43566e0
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
@@ -841,6 +841,14 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_do_reposition(const mavlink_com
         return MAV_RESULT_DENIED;
     }
 
+#if AP_FENCE_ENABLED
+    // reject destination if outside the fence
+    if (!plane.fence.check_destination_within_fence(requested_position)) {
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
+        return MAV_RESULT_DENIED;
+    }
+#endif
+
     // location is valid load and set
     if (((int32_t)packet.param2 & MAV_DO_REPOSITION_FLAGS_CHANGE_MODE) ||
         (plane.control_mode == &plane.mode_guided)) {