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Plane: move have_autoenabled_fences to be private in ModeTakeoff #27638

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Jul 29, 2024
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Plane: move have_autoenabled_fences to be private in ModeTakeoff #27638

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3 changes: 0 additions & 3 deletions ArduPlane/Plane.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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()
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6 changes: 6 additions & 0 deletions ArduPlane/mode.h
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Expand Up @@ -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
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6 changes: 3 additions & 3 deletions ArduPlane/mode_takeoff.cpp
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Expand Up @@ -63,7 +63,7 @@ ModeTakeoff::ModeTakeoff() :
bool ModeTakeoff::_enter()
{
takeoff_mode_setup = false;
plane.have_autoenabled_fences = false;
have_autoenabled_fences = false;

return true;
}
Expand Down Expand Up @@ -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();
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