AC_Fence: address minor review comments

ArduPilot · Jul 23, 2024 · ccfbfdd · ccfbfdd
1 parent 5507596
commit ccfbfdd
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/ArduCopter/fence.cpp b/ArduCopter/fence.cpp
@@ -84,7 +84,7 @@ void Copter::fence_check()
         LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
 
     } else if (orig_breaches && fence.get_breaches() == 0) {
-        if  (!copter.ap.land_complete) {
+        if (!copter.ap.land_complete) {
             GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Fence breach cleared");
         }
         // record clearing of breach

diff --git a/libraries/AC_Fence/AC_Fence.cpp b/libraries/AC_Fence/AC_Fence.cpp
@@ -144,7 +144,7 @@ const AP_Param::GroupInfo AC_Fence::var_info[] = {
     // @Description: When bit 0 is set sisable mode change following fence action until fence breach is cleared. When bit 1 is set the allowable flight areas is the union of all polygon and circle fence areas instead of the intersection, which means a fence breach occurs only if you are outside all of the fence areas.
     // @Bitmask: 0:Disable mode change following fence action until fence breach is cleared, 1:Allow union of inclusion areas
     // @User: Standard
-    AP_GROUPINFO_FRAME("OPTIONS", 11, AC_Fence, _options, static_cast<uint16_t>(AC_FENCE_OPTIONS_DEFAULT), AP_PARAM_FRAME_PLANE | AP_PARAM_FRAME_COPTER),
+    AP_GROUPINFO_FRAME("OPTIONS", 11, AC_Fence, _options, static_cast<uint16_t>(AC_FENCE_OPTIONS_DEFAULT), AP_PARAM_FRAME_PLANE | AP_PARAM_FRAME_COPTER | AP_PARAM_FRAME_TRICOPTER | AP_PARAM_FRAME_HELI),
 
     AP_GROUPEND
 };
@@ -237,7 +237,9 @@ void AC_Fence::update()
 #endif
 }
 
-/// enable the Fence code generally; a master switch for all fences
+// enable or disable configured fences present in fence_types
+// also updates the bitmask of auto enabled fences if update_auto_mask is true
+// returns a bitmask of fences that were changed
 uint8_t AC_Fence::enable(bool value, uint8_t fence_types, bool update_auto_mask)
 {
     uint8_t fences = _configured_fences.get() & fence_types;