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Rover: Perform an arm check first #27022

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Rover: Perform an arm check first #27022

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11 changes: 5 additions & 6 deletions Rover/fence.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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();
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@IamPete1 IamPete1 May 8, 2024 •
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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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I understood.


// if there is a new breach take action
if (new_breaches) {
// if the user wants some kind of response and motors are armed
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