AC_Fence: add options param on plane

libraries/AC_Fence/AC_Fence.cpp

@@ -134,6 +134,13 @@ const AP_Param::GroupInfo AC_Fence::var_info[] = {
     // @User: Standard
     AP_GROUPINFO_FRAME("AUTOENABLE", 10, AC_Fence, _auto_enabled, static_cast<uint8_t>(AutoEnable::ALWAYS_DISABLED), AP_PARAM_FRAME_PLANE),
 
+    // @Param{Plane}: OPTIONS
+    // @DisplayName: Fence options
+    // @Description: 0:Disable mode change following fence action until fence breach is cleared
+    // @Bitmask: 0:Disable mode change following fence action until fence breach is cleared
+    // @User: Standard
+    AP_GROUPINFO_FRAME("OPTIONS", 11, AC_Fence, _options, static_cast<uint16_t>(OPTIONS::DISABLE_MODE_CHANGE), AP_PARAM_FRAME_PLANE),
+
     AP_GROUPEND
 };
 

libraries/AC_Fence/AC_Fence.h

@@ -146,6 +146,13 @@ public:
     AC_PolyFence_loader &polyfence();
     const AC_PolyFence_loader &polyfence() const;
 
+    enum class OPTIONS {
+        DISABLE_MODE_CHANGE = 1 << 0,
+    };
+    bool option_enabled(OPTIONS opt) const {
+        return (_options.get() & int16_t(opt)) != 0;
+    }
+
     static const struct AP_Param::GroupInfo var_info[];
 
 private:
@@ -186,6 +193,7 @@ private:
     AP_Int8         _total;                 // number of polygon points saved in eeprom
     AP_Int8         _ret_rally;             // return to fence return point or rally point/home
     AP_Int16        _ret_altitude;          // return to this altitude
+    AP_Int16        _options;               // options bitmask, see OPTIONS enum
 
     // backup fences
     float           _alt_max_backup;        // backup altitude upper limit in meters used to refire the breach if the vehicle continues to move further away