Rover: Perform an arm check first #27022
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| const uint8_t orig_breaches = fence.get_breaches(); | ||
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| // check for a breach | ||
| uint8_t new_breaches = fence.check(); |
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Think this is the main "update" function for fence. So even thought the return is not used we still need to call it. Otherwise the fence arming check might not work for example.
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A fence_check is performed in the arming.pre_arm_checks method.
https://github.com/ArduPilot/ardupilot/blob/master/Rover/Rover.cpp#L450
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Right, but it does not actually check if the vehicle is inside the fence, it just uses the result of the last check. Except there now will be no result because your not running the check.
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This is failing CI because it not correct.
2024-05-08T19:37:04.4497292Z Failure Summary:
2024-05-08T19:37:04.4497637Z test.Rover:
2024-05-08T19:37:04.4498793Z PolyFence (test fence-related functions) (Expected to be breached) (see /tmp/buildlogs/Rover-PolyFence.txt) (duration 3.3232529163360596 s)
2024-05-08T19:37:04.4500007Z FAILED 1 tests: ['test.Rover']
It would be much clearer if the fence check method was void and called update. Then a second call to get_breaches to check for new breaches.
Performing an arm check first ensures that the fence check does not become unnecessary.