Copter: don't breach auto-fences when landed

ArduPilot · Jun 23, 2024 · aa51fc0 · aa51fc0
1 parent 1ca1dd7
commit aa51fc0
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/ArduCopter/fence.cpp b/ArduCopter/fence.cpp
@@ -12,7 +12,8 @@ void Copter::fence_check()
 
     bool is_in_landing = flightmode->mode_number() == Mode::Number::LAND
                          || flightmode->mode_number() == Mode::Number::RTL
-                         || flightmode->mode_number() == Mode::Number::SMART_RTL;
+                         || flightmode->mode_number() == Mode::Number::SMART_RTL
+                         || ap.land_complete  || !motors->armed();
 
     // check for new breaches; new_breaches is bitmask of fence types breached
     const uint8_t new_breaches = fence.check(is_in_landing);