Copter: address minor review comments

ArduPilot · Jul 21, 2024 · fb8ae12 · fb8ae12
1 parent 2b15f10
commit fb8ae12
Show file tree

Hide file tree

Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/ArduCopter/fence.cpp b/ArduCopter/fence.cpp
@@ -10,10 +10,10 @@ void Copter::fence_check()
 {
     const uint8_t orig_breaches = fence.get_breaches();
 
-    bool is_in_landing = flightmode->is_landing() || ap.land_complete  || !motors->armed();
+    bool is_landing_or_landed = flightmode->is_landing() || ap.land_complete  || !motors->armed();
 
     // check for new breaches; new_breaches is bitmask of fence types breached
-    const uint8_t new_breaches = fence.check(is_in_landing);
+    const uint8_t new_breaches = fence.check(is_landing_or_landed);
 
     // we still don't do anything when disarmed, but we do check for fence breaches.
     // fence pre-arm check actually checks if any fence has been breached 

diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
@@ -354,6 +354,7 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
         fence.option_enabled(AC_Fence::OPTIONS::DISABLE_MODE_CHANGE) &&
         fence.get_breaches() &&
         !flightmode->is_landing() &&
+        motors->armed() &&
         get_control_mode_reason() == ModeReason::FENCE_BREACHED &&
         !ap.land_complete) {
         mode_change_failed(new_flightmode, "in fence recovery");