Code

Copter Fence Fixes#25875

Code

Merged

peterbarker merged 49 commits intoArduPilot:masterArduPilot/ardupilot:masterfrom andyp1per:pr-copter-fencesandyp1per/ardupilot:pr-copter-fencesCopy head branch name to clipboardJul 23, 2024

+1,236-338

Commits

Commits on Jul 17, 2024

• Copter: notify when fence breach has cleared

  Show description for a0a81de
  andyp1per

  committed
  a0a81de

• GCS_MAVLink: use bitmask based enablement for fences

  andyp1per

  committed
  9817344

• AP_Mission: add comment about new fence API

  andyp1per

  committed
  4ce89c8

• AC_Avoidance: take into account minimum altitude fence when calculating climb rate

  andyp1per

  committed
  5f51be6

• AP_Arming: do not enable minimim altitude fence on arming

  Show description for 694c6a0
  andyp1per

  committed
  694c6a0

• Plane: output user-friendly fence messages

  andyp1per

  committed
  fe40fbb

• AP_Common: fix initialization of ExpandingString so that it can be used on the stack

  Show description for 427e81e
  andyp1per

  committed
  427e81e

• AP_Frsky_Telem: use fence enable_configured()

  andyp1per

  committed
  a540f1d

• RC_Channel: use fence enable_configured()

  andyp1per

  committed
  ae95da6

• Plane: use fence enable_configured()

  Show description for a433d74
  andyp1per

  committed
  a433d74

• Rover: use fence enable_configured()

  andyp1per

  committed
  642ebab

• Plane: prevent Mode Takeoff calling fence autoenable more than once

  

  Hwurzburg

  authored and

  andyp1per

  committed
  ead7383

• AP_Logger: add events for all fence types

  andyp1per

  committed
  9b5890a

• AC_Fence: add ability to auto-enable fence floor while doing fence checks

  Show description for e00be28
  andyp1per

  committed
  e00be28

• AC_Fence: ensure fence enablement on arming is inverted on disarming

  Show description for 1aebd67
  andyp1per

  committed
  1aebd67

• AP_Arming: ensure fence enablement on arming is inverted on disarming

  andyp1per

  committed
  cda9de2

• AC_Fence: clear breach of disabled fence

  Show description for 4117288
  

  peterbarker

  authored and

  andyp1per

  committed
  4117288

• autotest: add test for auto-disabling min alt fence breaches on disarming

  Show description for 7b57930
  andyp1per

  committed
  7b57930

• AC_Fence: add reset_fence_floor_enable() and use it in plane when landing is aborted

  andyp1per

  committed
  bb8f98f

• Plane: use reset_fence_floor_enable()

  andyp1per

  committed
  5c9deab

• autotest: test aborted landing with fence correctly

  andyp1per

  committed
  cbd8c60

• AC_Fence: disable fences for landing by suppressing in the fence check rather than using a state machine

  Show description for d19fd9c
  andyp1per

  committed
  d19fd9c

• Plane: disable fences for landing by suppressing in the fence check rather than using a state machine

  andyp1per

  committed
  ef8f182

• Copter: disable fences for landing by suppressing in the fence check rather than using a state machine

  andyp1per

  committed
  807b1d0

• AP_Mission: generic fence handling in missions

  andyp1per

  committed
  24ec111

• Plane: use generic fence handling in missions

  andyp1per

  committed
  e94dcf2

• Copter: use generic fence handling in missions

  andyp1per

  committed
  4c06ac5

• Rover: use generic fence handling in missions

  andyp1per

  committed
  d64f5ea

• AC_Fence: always disable Min Alt fence on landing

  Show description for 11441b3
  andyp1per

  committed
  11441b3

• AP_Arming: allow precise wording of fence pre-arm messages

  andyp1per

  committed
  a42d7ae

• Copter: don't breach auto-fences when landed

  andyp1per

  committed
  6cbbd88

• autotest: fix fence autotests

  Show description for 0963060
  andyp1per

  committed
  0963060

• AC_Avoidance: correctly set back away speed for minimum alt fences

  andyp1per

  committed
  bb7384e

• autotest: add test for minimum altitude avoidance fence

  andyp1per

  committed
  b12c39b

• Copter: only disable fences when in landing phase

  andyp1per

  committed
  d338e3e

• Plane: only disable fences when in landing phase

  andyp1per

  committed
  df04765

• Copter: don't print fence cleared messages when sitting on the ground

  andyp1per

  committed
  0f98294

• AC_Fence: support FENCE_OPTIONS on copter

  andyp1per

  committed
  4c6ef82

• Copter: support FENCE_OPTIONS on copter

  andyp1per

  committed
  61f462b

• Plane: reject guided destinations outside the fence

  andyp1per

  committed
  43566e0

Commits on Jul 19, 2024

• AC_Fence: fixed FENCE_AUTOENABLE=2

  Show description for f676d41
  

  tridge

  authored and

  andyp1per

  committed
  f676d41

• Plane: reset previous mode fence breach when disarmed

  Show description for fdae0dd
  

  tridge

  authored and

  andyp1per

  committed
  fdae0dd

• autotest: test for circle exclusion fence using AUTOENABLE=2

  andyp1per

  committed
  d0b7aff

Commits on Jul 21, 2024

• Plane: fixed re-enable of fence for FENCE_AUTOENABLE=1

  Show description for 398fe33
  

  tridge

  authored and

  andyp1per

  committed
  398fe33

• AP_Mission: address minor review comments

  andyp1per

  committed
  89e7220

• AC_Fence: address minor review comments

  andyp1per

  committed
  768f780

• Copter: address minor review comments

  andyp1per

  committed
  96d9985

• Plane: address minor review comments

  andyp1per

  committed
  8d7db72

Commits on Jul 23, 2024

• Copter: fully honour FENCE_OPTION to disable mode changes

  Show description for 166cb48
  

  tridge

  authored and

  andyp1per

  committed
  166cb48