Plane: move have_autoenabled_fences to be private in ModeTakeoff

ArduPilot · Jul 29, 2024 · 55f51ea · 55f51ea
1 parent 535f806
commit 55f51ea
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Showing 3 changed files with 9 additions and 6 deletions.
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
@@ -250,9 +250,6 @@ class Plane : public AP_Vehicle {
 
     // are we currently in long failsafe but have postponed it in MODE TAKEOFF until min level alt is reached
     bool long_failsafe_pending;
-
-    //flag that we have already called autoenable fences once in MODE TAKEOFF
-    bool have_autoenabled_fences;
 
     // GCS selection
     GCS_Plane _gcs; // avoid using this; use gcs()

diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
@@ -816,6 +816,12 @@ class ModeTakeoff: public Mode
     Location start_loc;
 
     bool _enter() override;
+
+private:
+
+    // flag that we have already called autoenable fences once in MODE TAKEOFF
+    bool have_autoenabled_fences;
+
 };
 
 #if HAL_SOARING_ENABLED

diff --git a/ArduPlane/mode_takeoff.cpp b/ArduPlane/mode_takeoff.cpp
@@ -63,7 +63,7 @@ ModeTakeoff::ModeTakeoff() :
 bool ModeTakeoff::_enter()
 {
     takeoff_mode_setup = false;
-    plane.have_autoenabled_fences = false;
+    have_autoenabled_fences = false;
 
     return true;
 }
@@ -155,9 +155,9 @@ void ModeTakeoff::update()
     } else {
         if ((altitude_cm >= alt * 100 - 200)) { //within 2m of TKOFF_ALT, or above and loitering
 #if AP_FENCE_ENABLED
-            if (!plane.have_autoenabled_fences) {
+            if (!have_autoenabled_fences) {
                 plane.fence.auto_enable_fence_after_takeoff();
-                plane.have_autoenabled_fences = true;
+                have_autoenabled_fences = true;
             }
 #endif
             plane.calc_nav_roll();