AP_Mission: address minor review comments

ArduPilot · Jul 23, 2024 · 5507596 · 5507596
1 parent d845af9
commit 5507596
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Showing 2 changed files with 3 additions and 4 deletions.
diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
@@ -1239,7 +1239,6 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
 
     case MAV_CMD_DO_FENCE_ENABLE:                       // MAV ID: 207
         cmd.p1 = packet.param1;                         // action 0=disable, 1=enable, 2=disable floor
-        // packet.param2;                               // bitmask see FENCE_TYPE enum
         break;
 
     case MAV_CMD_DO_AUX_FUNCTION:

diff --git a/libraries/AP_Mission/AP_Mission_Commands.cpp b/libraries/AP_Mission/AP_Mission_Commands.cpp
@@ -357,15 +357,15 @@ bool AP_Mission::start_command_fence(const AP_Mission::Mission_Command& cmd)
         return false;
     }
 
-    if (cmd.p1 == 0) {          // disable fence
+    if (cmd.p1 == uint8_t(AC_Fence::MavlinkFenceActions::DISABLE_FENCE)) {          // disable fence
         uint8_t fences = fence->enable_configured(false);
         fence->print_fence_message("disabled", fences);
         return true;
-    } else if (cmd.p1 == 1) {   // enable fence
+    } else if (cmd.p1 == uint8_t(AC_Fence::MavlinkFenceActions::ENABLE_FENCE)) {   // enable fence
         uint8_t fences = fence->enable_configured(true);
         fence->print_fence_message("enabled", fences);
         return true;
-    } else if (cmd.p1 == 2) {   // disable fence floor only
+    } else if (cmd.p1 == uint8_t(AC_Fence::MavlinkFenceActions::DISABLE_ALT_MIN_FENCE)) {   // disable fence floor only
         fence->disable_floor();
         fence->print_fence_message("disabled", AC_FENCE_TYPE_ALT_MIN);
         return true;