Plane: Fence moved to vehicle

ArduPlane/ArduPlane.cpp

@@ -78,9 +78,6 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_BattMonitor, &plane.battery, read,   10, 300,  66),
     SCHED_TASK_CLASS(AP_Baro, &plane.barometer, accumulate,  50, 150,  69),
     SCHED_TASK_CLASS(AP_Notify,      &plane.notify,  update, 50, 300,  72),
-#if AC_FENCE == ENABLED
-    SCHED_TASK_CLASS(AC_Fence,       &plane.fence,   update, 10, 100, 75),
-#endif
     SCHED_TASK(read_rangefinder,       50,    100, 78),
 #if AP_ICENGINE_ENABLED
     SCHED_TASK_CLASS(AP_ICEngine,      &plane.g2.ice_control, update,     10, 100,  81),

ArduPlane/Parameters.cpp

@@ -950,12 +950,6 @@ const AP_Param::Info Plane::var_info[] = {
     // @Path: ../libraries/AP_Rally/AP_Rally.cpp
     GOBJECT(rally,  "RALLY_",       AP_Rally),
 
-#if AC_FENCE == ENABLED
-    // @Group: FENCE_
-    // @Path: ../libraries/AC_Fence/AC_Fence.cpp
-    GOBJECT(fence, "FENCE_",        AC_Fence),
-#endif
-
 #if HAL_NAVEKF2_AVAILABLE
     // @Group: EK2_
     // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -1391,6 +1385,7 @@ void Plane::load_parameters(void)
         }
     }
 
+#if AC_FENCE
     enum ap_var_type ptype_fence_type;
     AP_Int8 *fence_type_new = (AP_Int8*)AP_Param::find("FENCE_TYPE", &ptype_fence_type);
     if (fence_type_new && !fence_type_new->configured()) {
@@ -1475,6 +1470,7 @@ void Plane::load_parameters(void)
             }
         }
     }
+#endif // AC_FENCE
 
 #if AP_TERRAIN_AVAILABLE
     g.terrain_follow.convert_parameter_width(AP_PARAM_INT8);
@@ -1526,5 +1522,10 @@ void Plane::load_parameters(void)
     }
 #endif // HAL_INS_NUM_HARMONIC_NOTCH_FILTERS
     
+    // PARAMETER_CONVERSION - Added: Mar-2022
+#if AC_FENCE
+    AP_Param::convert_class(g.k_param_fence, &fence, fence.var_info, 0, 0, true);
+#endif
+
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }

ArduPlane/Parameters.h

@@ -350,7 +350,7 @@ public:
         k_param_gcs4,          // stream rates
         k_param_gcs5,          // stream rates
         k_param_gcs6,          // stream rates
-        k_param_fence,         // vehicle fence
+        k_param_fence,         // vehicle fence - unused
         k_param_acro_yaw_rate,
     };
 

ArduPlane/Plane.h

@@ -97,10 +97,6 @@
 #include "afs_plane.h"
 #endif
 
-#if AC_FENCE == ENABLED
-#include <AC_Fence/AC_Fence.h>
-#endif
-
 // Local modules
 #include "defines.h"
 #include "mode.h"
@@ -254,10 +250,6 @@ private:
     AP_OSD osd;
 #endif
 
-#if AC_FENCE == ENABLED
-    AC_Fence fence;
-#endif
-
     ModeCircle mode_circle;
     ModeStabilize mode_stabilize;
     ModeTraining mode_training;

ArduPlane/config.h

@@ -233,11 +233,6 @@
  # define SCALING_SPEED          15.0
 #endif
 
-// use this to disable geo-fencing
-#ifndef AC_FENCE
- # define AC_FENCE ENABLED
-#endif
-
 // a digital pin to set high when the geo-fence triggers. Defaults
 // to -1, which means don't activate a pin
 #ifndef FENCE_TRIGGERED_PIN

ArduPlane/quadplane.h

@@ -17,7 +17,6 @@
 #include <AC_AttitudeControl/AC_WeatherVane.h>
 #include <AC_WPNav/AC_WPNav.h>
 #include <AC_WPNav/AC_Loiter.h>
-#include <AC_Fence/AC_Fence.h>
 #include <AC_Avoidance/AC_Avoid.h>
 #include <AP_Logger/LogStructure.h>
 #include <AP_Proximity/AP_Proximity.h>

ArduPlane/system.cpp

@@ -147,11 +147,6 @@ void Plane::init_ardupilot()
 #if GRIPPER_ENABLED == ENABLED
     g2.gripper.init();
 #endif
-
-    // init fence
-#if AC_FENCE == ENABLED
-    fence.init();
-#endif
 }
 
 //********************************************************************************