Rover: Perform an arm check first

ArduPilot · May 8, 2024 · 1f7ba38 · 1f7ba38
1 parent 4320063
commit 1f7ba38
Showing 1 changed file with 5 additions and 6 deletions.
diff --git a/Rover/fence.cpp b/Rover/fence.cpp
@@ -4,17 +4,16 @@
 void Rover::fence_check()
 {
 #if AP_FENCE_ENABLED
-    uint8_t new_breaches;  // the type of fence that has been breached
-    const uint8_t orig_breaches = fence.get_breaches();
-
-    // check for a breach
-    new_breaches = fence.check();
-
     // return immediately if motors are not armed
     if (!arming.is_armed()) {
         return;
     }
 
+    const uint8_t orig_breaches = fence.get_breaches();
+
+    // check for a breach
+    uint8_t new_breaches = fence.check();
+
     // if there is a new breach take action
     if (new_breaches) {
         // if the user wants some kind of response and motors are armed