AC_Fence: defualt to AP_FENCE_ENABLED 2, 1 disables dummy methods

3 years ago · 2fc9cf97d4
3 changed files with 9 additions and 3 deletions
--- a/libraries/AC_Fence/AC_Fence.cpp
+++ b/libraries/AC_Fence/AC_Fence.cpp
@ -5,7 +5,7 @@
				@@ -5,7 +5,7 @@
 #include <AP_Vehicle/AP_Vehicle_Type.h>

 #ifndef AC_FENCE_DUMMY_METHODS_ENABLED
-#define AC_FENCE_DUMMY_METHODS_ENABLED  (!(APM_BUILD_TYPE(APM_BUILD_Rover) | APM_BUILD_COPTER_OR_HELI | APM_BUILD_TYPE(APM_BUILD_ArduPlane) | APM_BUILD_TYPE(APM_BUILD_ArduSub)))
+#define AC_FENCE_DUMMY_METHODS_ENABLED  (!(APM_BUILD_TYPE(APM_BUILD_Rover) | APM_BUILD_COPTER_OR_HELI | APM_BUILD_TYPE(APM_BUILD_ArduPlane) | APM_BUILD_TYPE(APM_BUILD_ArduSub) | (AP_FENCE_ENABLED == 1)))
 #endif

 #if !AC_FENCE_DUMMY_METHODS_ENABLED
--- a/libraries/AC_Fence/AC_Fence_config.h
+++ b/libraries/AC_Fence/AC_Fence_config.h
@ -1,5 +1,11 @@
				@@ -1,5 +1,11 @@
 #pragma once

+#include <AP_HAL/AP_HAL_Boards.h>
+
+// Enabled 0 is compiled out
+// Enabled 1 is always enabled on all vehicles
+// Enabled 2 is enabled with dummy methods for tracker and blimp
+
 #ifndef AP_FENCE_ENABLED
-#define AP_FENCE_ENABLED 1
+#define AP_FENCE_ENABLED 2
 #endif
--- a/libraries/AC_Fence/AC_PolyFence_loader.cpp
+++ b/libraries/AC_Fence/AC_PolyFence_loader.cpp
@ -5,7 +5,7 @@
				@@ -5,7 +5,7 @@
 #include <AP_Vehicle/AP_Vehicle_Type.h>

 #ifndef AC_FENCE_DUMMY_METHODS_ENABLED
-#define AC_FENCE_DUMMY_METHODS_ENABLED  (!(APM_BUILD_TYPE(APM_BUILD_Rover) | APM_BUILD_COPTER_OR_HELI | APM_BUILD_TYPE(APM_BUILD_ArduPlane) | APM_BUILD_TYPE(APM_BUILD_ArduSub)))
+#define AC_FENCE_DUMMY_METHODS_ENABLED  (!(APM_BUILD_TYPE(APM_BUILD_Rover) | APM_BUILD_COPTER_OR_HELI | APM_BUILD_TYPE(APM_BUILD_ArduPlane) | APM_BUILD_TYPE(APM_BUILD_ArduSub) | (AP_FENCE_ENABLED == 1)))
 #endif

 #if !AC_FENCE_DUMMY_METHODS_ENABLED