ArduPlane: change AC_FENCE to AP_FENCE_ENABLED

ArduPlane/ArduPlane.cpp

@@ -272,7 +272,7 @@ void Plane::update_logging2(void)
 void Plane::afs_fs_check(void)
 {
     // perform AFS failsafe checks
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
     const bool fence_breached = fence.get_breaches() != 0;
 #else
     const bool fence_breached = false;
@@ -344,7 +344,7 @@ void Plane::one_second_loop()
 
 void Plane::three_hz_loop()
 {
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
     fence_check();
 #endif
 }

ArduPlane/Attitude.cpp

@@ -65,7 +65,7 @@ bool Plane::stick_mixing_enabled(void)
         // never stick mix without valid RC
         return false;
     }
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
     const bool stickmixing = fence_stickmixing();
 #else
     const bool stickmixing = true;

ArduPlane/Parameters.cpp

@@ -1385,7 +1385,7 @@ void Plane::load_parameters(void)
         }
     }
 
-#if AC_FENCE
+#if AP_FENCE_ENABLED
     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()) {
@@ -1470,7 +1470,7 @@ void Plane::load_parameters(void)
             }
         }
     }
-#endif // AC_FENCE
+#endif // AP_FENCE_ENABLED
 
 #if AP_TERRAIN_AVAILABLE
     g.terrain_follow.convert_parameter_width(AP_PARAM_INT8);
@@ -1523,7 +1523,7 @@ void Plane::load_parameters(void)
 #endif // HAL_INS_NUM_HARMONIC_NOTCH_FILTERS
     
     // PARAMETER_CONVERSION - Added: Mar-2022
-#if AC_FENCE
+#if AP_FENCE_ENABLED
     AP_Param::convert_class(g.k_param_fence, &fence, fence.var_info, 0, 0, true);
 #endif
 

ArduPlane/Plane.h

@@ -975,7 +975,7 @@ private:
     void handle_battery_failsafe(const char* type_str, const int8_t action);
     bool failsafe_in_landing_sequence() const;  // returns true if the vehicle is in landing sequence.  Intended only for use in failsafe code.
 
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
     // fence.cpp
     void fence_check();
     bool fence_stickmixing() const;

ArduPlane/commands_logic.cpp

@@ -142,7 +142,7 @@ bool Plane::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 fence
             plane.fence.enable(false);
             gcs().send_text(MAV_SEVERITY_INFO, "Fence disabled");
@@ -418,7 +418,7 @@ void Plane::do_land(const AP_Mission::Mission_Command& cmd)
         set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_LAND);
     }
 
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
     plane.fence.auto_disable_fence_for_landing();
 #endif
 }
@@ -601,7 +601,7 @@ bool Plane::verify_takeoff()
         auto_state.takeoff_complete = true;
         next_WP_loc = prev_WP_loc = current_loc;
 
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
         plane.fence.auto_enable_fence_after_takeoff();
 #endif
 

ArduPlane/fence.cpp

@@ -2,7 +2,7 @@
 
 // Code to integrate AC_Fence library with main ArduPlane code
 
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
 
 // fence_check - ask fence library to check for breaches and initiate the response
 void Plane::fence_check()

ArduPlane/mode_qland.cpp

@@ -16,7 +16,7 @@ bool ModeQLand::_enter()
 #if LANDING_GEAR_ENABLED == ENABLED
     plane.g2.landing_gear.deploy_for_landing();
 #endif
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
     plane.fence.auto_disable_fence_for_landing();
 #endif
     return true;

ArduPlane/mode_takeoff.cpp

@@ -114,7 +114,7 @@ void ModeTakeoff::update()
 
         plane.set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_NORMAL);
         
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
         plane.fence.auto_enable_fence_after_takeoff();
 #endif
     }

ArduPlane/quadplane.cpp

@@ -3139,7 +3139,7 @@ bool QuadPlane::verify_vtol_takeoff(const AP_Mission::Mission_Command &cmd)
     // todo: why are you doing this, I want to delete it.
     set_alt_target_current();
 
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
     plane.fence.auto_enable_fence_after_takeoff();
 #endif
 
@@ -3271,7 +3271,7 @@ bool QuadPlane::verify_vtol_land(void)
             poscontrol.pilot_correction_done = false;
             pos_control->set_lean_angle_max_cd(0);
             poscontrol.xy_correction.zero();
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
             plane.fence.auto_disable_fence_for_landing();
 #endif
 #if LANDING_GEAR_ENABLED == ENABLED

ArduPlane/radio.cpp

@@ -178,7 +178,7 @@ void Plane::read_radio()
 
     control_failsafe();
 
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
     const bool stickmixing = fence_stickmixing();
 #else
     const bool stickmixing = true;