Add Autoland fence action #29280
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Add Autoland fence action #29280
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Hwurzburg
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IamPete1
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Feb 16, 2025
ArduPlane/fence.cpp
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| @@ -80,6 +81,13 @@ void Plane::fence_check() | |||
| switch (fence_act) { | |||
| case AC_FENCE_ACTION_REPORT_ONLY: | |||
| break; | |||
| #if MODE_AUTOLAND_ENABLED | |||
| case AC_FENCE_ACTION_AUTOLAND_OR_RTL: | |||
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I think you need the same check as on line 95. Probably easier to fall through to that case and then add the if on 94.
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You also need to protect against RLT vs AUTOLAND. It should not switch out of one to go into the other.
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is this what you mean?
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| @@ -66,7 +66,7 @@ const AP_Param::GroupInfo AC_Fence::var_info[] = { | |||
| // @Description: What action should be taken when fence is breached | |||
| // @Values{Copter}: 0:Report Only,1:RTL or Land,2:Always Land,3:SmartRTL or RTL or Land,4:Brake or Land,5:SmartRTL or Land | |||
| // @Values{Rover}: 0:Report Only,1:RTL or Hold,2:Hold,3:SmartRTL or RTL or Hold,4:SmartRTL or Hold | |||
| // @Values{Plane}: 0:Report Only,1:RTL,6:Guided,7:GuidedThrottlePass | |||
| // @Values{Plane}: 0:Report Only,1:RTL,6:Guided,7:GuidedThrottlePass,8:AUTOLAND if possible or RTL | |||
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Suggested change
| // @Values{Plane}: 0:Report Only,1:RTL,6:Guided,7:GuidedThrottlePass,8:AUTOLAND if possible or RTL | |
| // @Values{Plane}: 0:Report Only,1:RTL,6:Guided,7:GuidedThrottlePass,8:AUTOLAND if possible else RTL |
Maybe that is a little clearer that RTL is the backup plan.
IamPete1
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Feb 17, 2025
| #if MODE_AUTOLAND_ENABLED | ||
| || fence_act == AC_FENCE_ACTION_AUTOLAND_OR_RTL | ||
| #endif | ||
| ) { | ||
| if (control_mode == &mode_auto && | ||
| mission.get_in_landing_sequence_flag() && | ||
| (g.rtl_autoland == RtlAutoland::RTL_THEN_DO_LAND_START || | ||
| g.rtl_autoland == RtlAutoland::RTL_IMMEDIATE_DO_LAND_START)) { | ||
| // already landing | ||
| return; |
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I think this early return needs a check for being in either RTL or Autoland.
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I have added a check to not change modes on a breach when AUTOLANDING in is LAND stage
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And again.....