ArduCopter: change AC_FENCE to AP_FENCE_ENABLED

ArduCopter/APM_Config.h

@@ -4,7 +4,7 @@
 //#define LOGGING_ENABLED       DISABLED            // disable logging to save 11K of flash space
 //#define MOUNT                 DISABLED            // disable the camera gimbal to save 8K of flash space
 //#define AUTOTUNE_ENABLED      DISABLED            // disable the auto tune functionality to save 7k of flash
-//#define AC_FENCE              DISABLED            // disable fence to save 2k of flash
+//#define AP_FENCE_ENABLED      DISABLED            // disable fence to save 2k of flash
 //#define CAMERA                DISABLED            // disable camera trigger to save 1k of flash
 //#define RANGEFINDER_ENABLED   DISABLED            // disable rangefinder to save 1k of flash
 //#define AC_RALLY              DISABLED            // disable rally points library (must also disable terrain which relies on rally)

ArduCopter/AP_Arming.cpp

@@ -331,7 +331,7 @@ bool AP_Arming_Copter::gps_checks(bool display_failure)
 {
     // check if fence requires GPS
     bool fence_requires_gps = false;
-    #if AC_FENCE == ENABLED
+    #if AP_FENCE_ENABLED
     // if circular or polygon fence is enabled we need GPS
     fence_requires_gps = (copter.fence.get_enabled_fences() & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) > 0;
     #endif
@@ -433,7 +433,7 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
 
     // check if fence requires GPS
     bool fence_requires_gps = false;
-    #if AC_FENCE == ENABLED
+    #if AP_FENCE_ENABLED
     // if circular or polygon fence is enabled we need GPS
     fence_requires_gps = (copter.fence.get_enabled_fences() & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) > 0;
     #endif

ArduCopter/AP_Rally.cpp

@@ -21,7 +21,7 @@
 
 bool AP_Rally_Copter::is_valid(const Location &rally_point) const
 {
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
     if (!copter.fence.check_destination_within_fence(rally_point)) {
         return false;
     }

ArduCopter/Copter.cpp

@@ -573,7 +573,7 @@ void Copter::three_hz_loop()
     // check for deadreckoning failsafe
     failsafe_deadreckon_check();
 
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
     // check if we have breached a fence
     fence_check();
 #endif // AP_FENCE_ENABLED

ArduCopter/Copter.h

@@ -764,7 +764,7 @@ private:
 #endif
 
     // fence.cpp
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
     void fence_check();
 #endif
 

ArduCopter/failsafe.cpp

@@ -79,7 +79,7 @@ void Copter::failsafe_check()
 void Copter::afs_fs_check(void)
 {
     // perform AFS failsafe checks
-#if AC_FENCE
+#if AP_FENCE_ENABLED
     const bool fence_breached = fence.get_breaches() != 0;
 #else
     const bool fence_breached = false;

ArduCopter/fence.cpp

@@ -2,7 +2,7 @@
 
 // Code to integrate AC_Fence library with main ArduCopter code
 
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
 
 // fence_check - ask fence library to check for breaches and initiate the response
 // called at 1hz

ArduCopter/mode.cpp

@@ -312,7 +312,7 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
     adsb.set_is_auto_mode((mode == Mode::Number::AUTO) || (mode == Mode::Number::RTL) || (mode == Mode::Number::GUIDED));
 #endif
 
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
     // pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
     // this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
     // but it should be harmless to disable the fence temporarily in these situations as well

ArduCopter/mode_auto.cpp

@@ -408,7 +408,7 @@ void ModeAuto::land_start()
     copter.landinggear.deploy_for_landing();
 #endif
 
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
     // disable the fence on landing
     copter.fence.auto_disable_fence_for_landing();
 #endif
@@ -674,7 +674,7 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
         break;
     
     case MAV_CMD_DO_FENCE_ENABLE:
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
         if (cmd.p1 == 0) { //disable
             copter.fence.enable(false);
             gcs().send_text(MAV_SEVERITY_INFO, "Fence Disabled");
@@ -682,7 +682,7 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
             copter.fence.enable(true);
             gcs().send_text(MAV_SEVERITY_INFO, "Fence Enabled");
         }
-#endif //AC_FENCE == ENABLED
+#endif //AP_FENCE_ENABLED
         break;
 
 #if NAV_GUIDED == ENABLED

ArduCopter/mode_guided.cpp

@@ -316,7 +316,7 @@ void ModeGuided::angle_control_start()
 // else return false if the waypoint is outside the fence
 bool ModeGuided::set_destination(const Vector3f& destination, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw, bool terrain_alt)
 {
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
     // reject destination if outside the fence
     const Location dest_loc(destination, terrain_alt ? Location::AltFrame::ABOVE_TERRAIN : Location::AltFrame::ABOVE_ORIGIN);
     if (!copter.fence.check_destination_within_fence(dest_loc)) {
@@ -408,7 +408,7 @@ bool ModeGuided::get_wp(Location& destination) const
 // or if the fence is enabled and guided waypoint is outside the fence
 bool ModeGuided::set_destination(const Location& dest_loc, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw)
 {
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
     // reject destination outside the fence.
     // Note: there is a danger that a target specified as a terrain altitude might not be checked if the conversion to alt-above-home fails
     if (!copter.fence.check_destination_within_fence(dest_loc)) {
@@ -551,7 +551,7 @@ bool ModeGuided::set_destination_posvel(const Vector3f& destination, const Vecto
 // set_destination_posvelaccel - set guided mode position, velocity and acceleration target
 bool ModeGuided::set_destination_posvelaccel(const Vector3f& destination, const Vector3f& velocity, const Vector3f& acceleration, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw)
 {
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
     // reject destination if outside the fence
     const Location dest_loc(destination, Location::AltFrame::ABOVE_ORIGIN);
     if (!copter.fence.check_destination_within_fence(dest_loc)) {

ArduCopter/mode_land.cpp

@@ -41,7 +41,7 @@ bool ModeLand::init(bool ignore_checks)
     copter.landinggear.deploy_for_landing();
 #endif
 
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
     // disable the fence on landing
     copter.fence.auto_disable_fence_for_landing();
 #endif

ArduCopter/mode_rtl.cpp

@@ -284,7 +284,7 @@ void ModeRTL::descent_start()
     copter.landinggear.deploy_for_landing();
 #endif
 
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
     // disable the fence on landing
     copter.fence.auto_disable_fence_for_landing();
 #endif
@@ -382,7 +382,7 @@ void ModeRTL::land_start()
     copter.landinggear.deploy_for_landing();
 #endif
 
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
     // disable the fence on landing
     copter.fence.auto_disable_fence_for_landing();
 #endif
@@ -531,7 +531,7 @@ void ModeRTL::compute_return_target()
     // set returned target alt to new target_alt (don't change altitude type)
     rtl_path.return_target.set_alt_cm(target_alt, (alt_type == ReturnTargetAltType::RELATIVE) ? Location::AltFrame::ABOVE_HOME : Location::AltFrame::ABOVE_TERRAIN);
 
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
     // ensure not above fence altitude if alt fence is enabled
     // Note: because the rtl_path.climb_target's altitude is simply copied from the return_target's altitude,
     //       if terrain altitudes are being used, the code below which reduces the return_target's altitude can lead to

ArduCopter/toy_mode.cpp

@@ -430,7 +430,7 @@ void ToyMode::update()
                  */
                 if (set_and_remember_mode(Mode::Number::ALT_HOLD, ModeReason::TOY_MODE)) {
                     gcs().send_text(MAV_SEVERITY_INFO, "Tmode: ALT_HOLD update arm");
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
                     copter.fence.enable(false);
 #endif
                     if (!copter.arming.arm(AP_Arming::Method::MAVLINK)) {
@@ -459,7 +459,7 @@ void ToyMode::update()
             AP_Notify::flags.hybrid_loiter = false;
 #endif
         } else if (copter.position_ok() && set_and_remember_mode(Mode::Number::LOITER, ModeReason::TOY_MODE)) {
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
             copter.fence.enable(true);
 #endif
             gcs().send_text(MAV_SEVERITY_INFO, "Tmode: LOITER update");            
@@ -622,7 +622,7 @@ void ToyMode::update()
             copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::TOY_MODE);
         } else {
             copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::TOY_MODE);
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
             copter.fence.enable(false);
 #endif
             if (copter.arming.arm(AP_Arming::Method::MAVLINK)) {
@@ -643,13 +643,13 @@ void ToyMode::update()
     
     if (new_mode != copter.flightmode->mode_number()) {
         load_test.running = false;
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
         copter.fence.enable(false);
 #endif
         if (set_and_remember_mode(new_mode, ModeReason::TOY_MODE)) {
             gcs().send_text(MAV_SEVERITY_INFO, "Tmode: mode %s", copter.flightmode->name4());
             // force fence on in all GPS flight modes
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
             if (copter.flightmode->requires_GPS()) {
                 copter.fence.enable(true);
             }
@@ -660,7 +660,7 @@ void ToyMode::update()
                 // if we can't RTL then land
                 gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: LANDING");
                 set_and_remember_mode(Mode::Number::LAND, ModeReason::TOY_MODE);
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
                 if (copter.landing_with_GPS()) {
                     copter.fence.enable(true);
                 }
@@ -799,7 +799,7 @@ void ToyMode::action_arm(void)
     arm_check_compass();
     
     if (needs_gps && copter.arming.gps_checks(false)) {
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
         // we want GPS and checks are passing, arm and enable fence
         copter.fence.enable(true);
 #endif
@@ -815,7 +815,7 @@ void ToyMode::action_arm(void)
         AP_Notify::events.arming_failed = true;
         gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: GPS arming failed");
     } else {
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
         // non-GPS mode
         copter.fence.enable(false);
 #endif