Plane: Remove unused geofence enable reason

ArduPlane/AP_Arming.cpp

@@ -148,11 +148,11 @@ bool AP_Arming_Plane::arm_checks(AP_Arming::Method method)
 
 #if GEOFENCE_ENABLED == ENABLED
     if (plane.g.fence_autoenable == 3) {
-        if (!plane.geofence_set_enabled(true, AUTO_TOGGLED)) {
+        if (!plane.geofence_set_enabled(true)) {
             gcs().send_text(MAV_SEVERITY_WARNING, "Fence: cannot enable for arming");
             return false;
         } else if (!plane.geofence_prearm_check()) {
-            plane.geofence_set_enabled(false, AUTO_TOGGLED);
+            plane.geofence_set_enabled(false);
             return false;
         } else {
             gcs().send_text(MAV_SEVERITY_WARNING, "Fence: auto-enabled for arming");
@@ -222,7 +222,7 @@ bool AP_Arming_Plane::disarm(void)
 
 #if GEOFENCE_ENABLED == ENABLED
     if (plane.g.fence_autoenable == 3) {
-        plane.geofence_set_enabled(false, AUTO_TOGGLED);
+        plane.geofence_set_enabled(false);
     }
 #endif
     

ArduPlane/GCS_Mavlink.cpp

@@ -899,12 +899,12 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
         }
         switch((uint16_t)packet.param1) {
         case 0:
-            if (! plane.geofence_set_enabled(false, GCS_TOGGLED)) {
+            if (! plane.geofence_set_enabled(false)) {
                 return MAV_RESULT_FAILED;
             }
             return MAV_RESULT_ACCEPTED;
         case 1:
-            if (! plane.geofence_set_enabled(true, GCS_TOGGLED)) {
+            if (! plane.geofence_set_enabled(true)) {
                 return MAV_RESULT_FAILED;
             }
             return MAV_RESULT_ACCEPTED;

ArduPlane/Plane.h

@@ -907,7 +907,7 @@ private:
     void geofence_load(void);
     bool geofence_present(void);
     void geofence_update_pwm_enabled_state();
-    bool geofence_set_enabled(bool enable, GeofenceEnableReason r);
+    bool geofence_set_enabled(bool enable);
     bool geofence_enabled(void);
     bool geofence_set_floor_enabled(bool floor_enable);
     bool geofence_check_minalt(void);

ArduPlane/commands_logic.cpp

@@ -136,7 +136,7 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
     case MAV_CMD_DO_FENCE_ENABLE:
 #if GEOFENCE_ENABLED == ENABLED
         if (cmd.p1 != 2) {
-            if (!geofence_set_enabled((bool) cmd.p1, AUTO_TOGGLED)) {
+            if (!geofence_set_enabled((bool) cmd.p1)) {
                 gcs().send_text(MAV_SEVERITY_WARNING, "Unable to set fence. Enabled state to %u", cmd.p1);
             } else {
                 gcs().send_text(MAV_SEVERITY_INFO, "Set fence enabled state to %u", cmd.p1);
@@ -389,7 +389,7 @@ void Plane::do_land(const AP_Mission::Mission_Command& cmd)
 
 #if GEOFENCE_ENABLED == ENABLED 
     if (g.fence_autoenable == 1) {
-        if (! geofence_set_enabled(false, AUTO_TOGGLED)) {
+        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)");

ArduPlane/defines.h

@@ -86,16 +86,6 @@ enum ChannelMixing {
     MIXING_DNDN_SWP = 8,
 };
 
-/*
- * The cause for the most recent fence enable
- */
-typedef enum GeofenceEnableReason {
-    NOT_ENABLED = 0,     //The fence is not enabled
-    PWM_TOGGLED,         //Fence enabled/disabled by PWM signal
-    AUTO_TOGGLED,        //Fence auto enabled/disabled at takeoff.
-    GCS_TOGGLED          //Fence enabled/disabled by the GCS via Mavlink
-} GeofenceEnableReason;
-
 // PID broadcast bitmask
 enum tuning_pid_bits {
     TUNING_BITS_ROLL  = (1 <<  0),

ArduPlane/geofence.cpp

@@ -27,7 +27,6 @@ static struct GeofenceState {
     int32_t guided_lng;
     uint16_t breach_count;
     uint8_t breach_type;
-    GeofenceEnableReason enable_reason;
     uint8_t old_switch_position;
     uint8_t num_points;
     bool boundary_uptodate;
@@ -179,13 +178,13 @@ void Plane::geofence_update_pwm_enabled_state()
     }
 
     if (geofence_state->is_pwm_enabled != is_pwm_enabled) {
-        geofence_set_enabled(is_pwm_enabled, PWM_TOGGLED);
+        geofence_set_enabled(is_pwm_enabled);
         geofence_state->is_pwm_enabled = is_pwm_enabled;
     }    
 }
 
 //return true on success, false on failure
-bool Plane::geofence_set_enabled(bool enable, GeofenceEnableReason r) 
+bool Plane::geofence_set_enabled(bool enable) 
 {
     if (geofence_state == nullptr && enable) {
         geofence_load();
@@ -199,7 +198,6 @@ bool Plane::geofence_set_enabled(bool enable, GeofenceEnableReason r)
         //turn the floor back on if it had been off
         geofence_set_floor_enabled(true);
     }
-    geofence_state->enable_reason = r;
     
     return true;
 }
@@ -518,7 +516,7 @@ bool Plane::geofence_present(void) {
     return false;
 }
 
-bool Plane::geofence_set_enabled(bool enable, GeofenceEnableReason r) {
+bool Plane::geofence_set_enabled(bool enable) {
     return false;
 }
 

ArduPlane/takeoff.cpp

@@ -269,7 +269,7 @@ void Plane::complete_auto_takeoff(void)
 {
 #if GEOFENCE_ENABLED == ENABLED
     if (g.fence_autoenable > 0) {
-        if (! geofence_set_enabled(true, AUTO_TOGGLED)) {
+        if (! geofence_set_enabled(true)) {
             gcs().send_text(MAV_SEVERITY_NOTICE, "Enable fence failed (cannot autoenable");
         } else {
             gcs().send_text(MAV_SEVERITY_INFO, "Fence enabled (autoenabled)");