Copter: add AP_Rally_Copter

override default is_valid method so we can check if rally point is inside the fence, if it isn't we ignore it

ArduCopter/AP_Rally.cpp

@@ -0,0 +1,32 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <AP_Common/Location.h>
+
+#include "Copter.h"
+
+#include "AP_Rally.h"
+
+bool AP_Rally_Copter::is_valid(const Location &rally_point) const
+{
+#if AC_FENCE == ENABLED
+    Location_Class rally_loc(rally_point);
+    if (!copter.fence.check_destination_within_fence(rally_loc)) {
+        return false;
+    }
+#endif
+    return true;
+}

ArduCopter/AP_Rally.h

@@ -0,0 +1,32 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+ 
+#pragma once
+
+#include <AP_Rally/AP_Rally.h>
+#include <AP_AHRS/AP_AHRS.h>
+
+class AP_Rally_Copter : public AP_Rally
+{
+
+public:
+    // constructor
+    AP_Rally_Copter(AP_AHRS &ahrs) : AP_Rally(ahrs) {};
+
+private:
+    bool is_valid(const Location &rally_point) const override;
+
+};

ArduCopter/Copter.h

@@ -50,7 +50,6 @@
 #include <AP_NavEKF/AP_NavEKF.h>
 #include <AP_NavEKF2/AP_NavEKF2.h>
 #include <AP_Mission/AP_Mission.h>         // Mission command library
-#include <AP_Rally/AP_Rally.h>           // Rally point library
 #include <AC_PID/AC_PID.h>             // PID library
 #include <AC_PID/AC_PI_2D.h>           // PID library (2-axis)
 #include <AC_PID/AC_HELI_PID.h>        // Heli specific Rate PID library
@@ -95,6 +94,7 @@
 #include "config.h"
 
 #include "GCS_Mavlink.h"
+#include "AP_Rally.h"           // Rally point library
 
 // libraries which are dependent on #defines in defines.h and/or config.h
 #if SPRAYER == ENABLED
@@ -121,6 +121,7 @@
 class Copter : public AP_HAL::HAL::Callbacks {
 public:
     friend class GCS_MAVLINK_Copter;
+    friend class AP_Rally_Copter;
     friend class Parameters;
 
     Copter(void);
@@ -508,7 +509,7 @@ private:
 
     // Rally library
 #if AC_RALLY == ENABLED
-    AP_Rally rally;
+    AP_Rally_Copter rally;
 #endif
 
     // RSSI 

ArduCopter/Parameters.cpp

@@ -831,8 +831,8 @@ const AP_Param::Info Copter::var_info[] = {
 
 #if AC_RALLY == ENABLED
     // @Group: RALLY_
-    // @Path: ../libraries/AP_Rally/AP_Rally.cpp
-    GOBJECT(rally,      "RALLY_",   AP_Rally),
+    // @Path: AP_Rally.cpp,../libraries/AP_Rally/AP_Rally.cpp
+    GOBJECT(rally,      "RALLY_",   AP_Rally_Copter),
 #endif
 
 #if FRAME_CONFIG ==     HELI_FRAME