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Plane:fix auto fence enable in Mode Takeoff #25788

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Plane:fix auto fence enable in Mode Takeoff #25788

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3 changes: 3 additions & 0 deletions ArduPlane/mode.h
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Original file line number Diff line number Diff line change
Expand Up @@ -787,6 +787,9 @@ class ModeTakeoff: public Mode
Location start_loc;

bool _enter() override;
#if AP_FENCE_ENABLED
void _exit() override;
#endif
};

#if HAL_SOARING_ENABLED
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13 changes: 8 additions & 5 deletions ArduPlane/mode_takeoff.cpp
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Expand Up @@ -137,10 +137,6 @@ void ModeTakeoff::update()
plane.next_WP_loc.alt += alt*100.0;

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 @@ -164,4 +160,11 @@ void ModeTakeoff::navigate()
// Zero indicates to use WP_LOITER_RAD
plane.update_loiter(0);
}

#if AP_FENCE_ENABLED
void ModeTakeoff::_exit()
{
if (plane.is_flying() && plane.is_flying()) {
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Checking the plane is definitely flying?

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