Plane: cope with quadplane

ArduPilot · May 31, 2024 · 4263ca5 · 4263ca5
1 parent 07a0f09
commit 4263ca5
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/ArduPlane/fence.cpp b/ArduPlane/fence.cpp
@@ -10,10 +10,12 @@ void Plane::fence_check()
     const uint8_t orig_breaches = fence.get_breaches();
 
     uint16_t mission_id = plane.mission.get_current_nav_cmd().id;
-    bool is_in_landing = (plane.flight_stage == AP_FixedWing::FlightStage::LAND)
-                         || (plane.is_land_command(mission_id) && plane.mission.state() == AP_Mission::MISSION_RUNNING)
+    bool is_in_landing = plane.flight_stage == AP_FixedWing::FlightStage::LAND
+#if HAL_QUADPLANE_ENABLED
                          || control_mode->mode_number() == Mode::Number::QLAND
                          || control_mode->mode_number() == Mode::Number::QRTL;
+#endif
+                         || (plane.is_land_command(mission_id) && plane.mission.state() == AP_Mission::MISSION_RUNNING);
 
     // check for new breaches; new_breaches is bitmask of fence types breached
     const uint8_t new_breaches = fence.check(is_in_landing);