Plane:fix auto fence enable in Mode Takeoff #25785
Conversation
There was a problem hiding this comment.
I wonder if a much easier change of enabling fence on takeoff mode exit would achieve the same thing? Since there is no way to change the target altitude after takeoff the only difference would be if there was some sort of issue that prevented the maintaining altitude once it had been reached.
| @@ -152,6 +149,13 @@ void ModeTakeoff::update() | |||
| plane.calc_nav_pitch(); | |||
| plane.calc_throttle(); | |||
| //check if in long failsafe, if it is recall long failsafe now to get fs action via events call | |||
There was a problem hiding this comment.
This comment belongs with the bit of code under the addition.
| @@ -152,6 +149,13 @@ void ModeTakeoff::update() | |||
| plane.calc_nav_pitch(); | |||
| plane.calc_throttle(); | |||
| //check if in long failsafe, if it is recall long failsafe now to get fs action via events call | |||
| #if AP_FENCE_ENABLED | |||
| const uint16_t altitude = plane.relative_ground_altitude(false,true); | |||
| if (altitude >= alt && !have_auto_enabled_fence) { | |||
There was a problem hiding this comment.
I think the standard loiter check can be used?
| if (altitude >= alt && !have_auto_enabled_fence) { | |
| if (plane.reached_loiter_target() && (loiter.reached_target_alt || loiter.unable_to_acheive_target_alt) && !have_auto_enabled_fence) { |
There was a problem hiding this comment.
I will try it in SITL
but you could misconfigure such that the loiter breaches a fence....but it may be simpler...will create an alternate PR for consideration |
Your right of course, but then why are we letting the user arm in takeoff mode if they will just breach fence, it would save effort all round to not take off in the first place ;). Its a little more tricky if they arm in another mode and switch to takeoff tho... |
|
closing in favor of Pete's approach #25788 |
fixes bug in Mode takeoff where autoenable occurs immediately after initial phase of climb and triggers min alt fence breach....AUTO takeoffs (both fw and VTOL) do not autoenable until takeoff alt is obtained....this does the same
addresses #25783