Plane: make FENCE_AUTOENABLE an AP_Enum

ArduPlane/AP_Arming.cpp

@@ -151,7 +151,7 @@ bool AP_Arming_Plane::arm_checks(AP_Arming::Method method)
     }
 
 #if GEOFENCE_ENABLED == ENABLED
-    if (plane.g.fence_autoenable == 3) {
+    if (plane.g.fence_autoenable == FenceAutoEnable::WhenArmed) {
         if (!plane.geofence_set_enabled(true)) {
             gcs().send_text(MAV_SEVERITY_WARNING, "Fence: cannot enable for arming");
             return false;
@@ -239,7 +239,7 @@ bool AP_Arming_Plane::disarm(const AP_Arming::Method method)
     gcs().send_text(MAV_SEVERITY_INFO, "Throttle disarmed");
 
 #if GEOFENCE_ENABLED == ENABLED
-    if (plane.g.fence_autoenable == 3) {
+    if (plane.g.fence_autoenable == FenceAutoEnable::AutoDisableFloorOnly) {
         plane.geofence_set_enabled(false);
     }
 #endif

ArduPlane/Parameters.h

@@ -401,7 +401,7 @@ public:
     AP_Int16 fence_minalt;    // meters
     AP_Int16 fence_maxalt;    // meters
     AP_Int16 fence_retalt;    // meters
-    AP_Int8 fence_autoenable;
+    AP_Enum<FenceAutoEnable> fence_autoenable;
     AP_Int8 fence_ret_rally;
 #endif
 

ArduPlane/commands_logic.cpp

@@ -386,13 +386,13 @@ void Plane::do_land(const AP_Mission::Mission_Command& cmd)
     }
 
 #if GEOFENCE_ENABLED == ENABLED 
-    if (g.fence_autoenable == 1) {
+    if (g.fence_autoenable == FenceAutoEnable::Auto) {
         if (! geofence_set_enabled(false)) {
             gcs().send_text(MAV_SEVERITY_NOTICE, "Disable fence failed (autodisable)");
         } else {
             gcs().send_text(MAV_SEVERITY_NOTICE, "Fence disabled (autodisable)");
         }
-    } else if (g.fence_autoenable == 2) {
+    } else if (g.fence_autoenable == FenceAutoEnable::AutoDisableFloorOnly) {
         if (! geofence_set_floor_enabled(false)) {
             gcs().send_text(MAV_SEVERITY_NOTICE, "Disable fence floor failed (autodisable)");
         } else {

ArduPlane/defines.h

@@ -172,3 +172,10 @@ enum class AirMode {
     OFF,
     ON,
 };
+
+enum class FenceAutoEnable : uint8_t {
+    OFF=0,
+    Auto=1,
+    AutoDisableFloorOnly=2,
+    WhenArmed=3
+};

ArduPlane/takeoff.cpp

@@ -272,7 +272,7 @@ return_zero:
 void Plane::complete_auto_takeoff(void)
 {
 #if GEOFENCE_ENABLED == ENABLED
-    if (g.fence_autoenable > 0) {
+    if (g.fence_autoenable != FenceAutoEnable::OFF) {
         if (! geofence_set_enabled(true)) {
             gcs().send_text(MAV_SEVERITY_NOTICE, "Enable fence failed (cannot autoenable");
         } else {