ArduSub: change AC_FENCE to AP_FENCE_ENABLED

ArduSub/ArduSub.cpp

@@ -244,7 +244,7 @@ void Sub::three_hz_loop()
     // check if we've lost terrain data
     failsafe_terrain_check();
 
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
     // check if we have breached a fence
     fence_check();
 #endif // AP_FENCE_ENABLED

ArduSub/control_guided.cpp

@@ -129,7 +129,7 @@ bool Sub::guided_set_destination(const Vector3f& destination)
         guided_pos_control_start();
     }
 
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
     // reject destination if outside the fence
     const Location dest_loc(destination, Location::AltFrame::ABOVE_ORIGIN);
     if (!fence.check_destination_within_fence(dest_loc)) {
@@ -157,7 +157,7 @@ bool Sub::guided_set_destination(const Location& dest_loc)
         guided_pos_control_start();
     }
 
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
     // reject destination outside the fence.
     // Note: there is a danger that a target specified as a terrain altitude might not be checked if the conversion to alt-above-home fails
     if (!fence.check_destination_within_fence(dest_loc)) {
@@ -201,7 +201,7 @@ bool Sub::guided_set_destination_posvel(const Vector3f& destination, const Vecto
         guided_posvel_control_start();
     }
 
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
     // reject destination if outside the fence
     const Location dest_loc(destination, Location::AltFrame::ABOVE_ORIGIN);
     if (!fence.check_destination_within_fence(dest_loc)) {

ArduSub/fence.cpp

@@ -2,7 +2,7 @@
 
 // Code to integrate AC_Fence library with main ArduSub code
 
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
 
 // fence_check - ask fence library to check for breaches and initiate the response
 // called at 1hz

ArduSub/flight_mode.cpp

@@ -82,7 +82,7 @@ bool Sub::set_mode(control_mode_t mode, ModeReason reason)
         camera.set_is_auto_mode(control_mode == AUTO);
 #endif
 
-#if AC_FENCE == ENABLED
+#if AP_FENCE_ENABLED
         // pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
         // this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
         // but it should be harmless to disable the fence temporarily in these situations as well