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Plane:fix auto fence enable in Mode Takeoff #25785

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Plane:fix auto fence enable in Mode Takeoff #25785

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1 change: 1 addition & 0 deletions ArduPlane/mode.h
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Original file line number Diff line number Diff line change
Expand Up @@ -784,6 +784,7 @@ class ModeTakeoff: public Mode
AP_Int8 level_pitch;

bool takeoff_started;
bool have_auto_enabled_fence;
Location start_loc;

bool _enter() override;
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12 changes: 8 additions & 4 deletions ArduPlane/mode_takeoff.cpp
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Expand Up @@ -63,7 +63,7 @@ ModeTakeoff::ModeTakeoff() :
bool ModeTakeoff::_enter()
{
takeoff_started = false;

have_auto_enabled_fence = false;
return true;
}

Expand Down Expand Up @@ -138,9 +138,6 @@ void ModeTakeoff::update()

plane.set_flight_stage(AP_FixedWing::FlightStage::NORMAL);

#if AP_FENCE_ENABLED
plane.fence.auto_enable_fence_after_takeoff();
#endif
}

if (plane.flight_stage == AP_FixedWing::FlightStage::TAKEOFF) {
Expand All @@ -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
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This comment belongs with the bit of code under the addition.

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will fix

#if AP_FENCE_ENABLED
const uint16_t altitude = plane.relative_ground_altitude(false,true);
if (altitude >= alt && !have_auto_enabled_fence) {
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I think the standard loiter check can be used?

Suggested change
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) {

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I will try it in SITL

plane.fence.auto_enable_fence_after_takeoff();
have_auto_enabled_fence = true;
}
#endif
if (plane.long_failsafe_pending) {
plane.long_failsafe_pending = false;
plane.failsafe_long_on_event(FAILSAFE_LONG, ModeReason::MODE_TAKEOFF_FAILSAFE);
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