From 7d89c534b5fc0fc63cdb290b83b3c3cc20a53928 Mon Sep 17 00:00:00 2001
From: Michael Day <michael.day@gtri.gatech.edu>
Date: Wed, 15 Mar 2017 11:13:49 -0400
Subject: [PATCH] Copter: fence now ignored in manual modes
---
ArduCopter/fence.cpp | 7 +++++++
1 file changed, 7 insertions(+)
diff --git a/ArduCopter/fence.cpp b/ArduCopter/fence.cpp
index 3d7b59c5c8..e632a5367c 100644
--- a/ArduCopter/fence.cpp
+++ b/ArduCopter/fence.cpp
@@ -22,6 +22,13 @@ void Copter::fence_check()
return;
}
+#if AP_ACS_USE == TRUE
+ //ignore fence in manual modes
+ if (control_mode == STABILIZE || control_mode == ALT_HOLD || control_mode == DRIFT) {
+ return;
+ }
+#endif
+
// if there is a new breach take action
if( new_breaches != AC_FENCE_TYPE_NONE ) {
--
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