Plane: fence: refactor action cases

ArduPilot · Feb 23, 2025 · 9dc2428 · 9dc2428
1 parent 5f1d3da
commit 9dc2428
Showing 1 changed file with 16 additions and 18 deletions.
diff --git a/ArduPlane/fence.cpp b/ArduPlane/fence.cpp
@@ -80,24 +80,24 @@ void Plane::fence_check()
         switch (fence_act) {
         case AC_FENCE_ACTION_REPORT_ONLY:
             break;
-        case AC_FENCE_ACTION_GUIDED:
-        case AC_FENCE_ACTION_GUIDED_THROTTLE_PASS:
+
         case AC_FENCE_ACTION_RTL_AND_LAND:
-            if (fence_act == AC_FENCE_ACTION_RTL_AND_LAND) {
-                if (control_mode == &mode_auto &&
-                    mission.get_in_landing_sequence_flag() &&
-                    (g.rtl_autoland == RtlAutoland::RTL_THEN_DO_LAND_START ||
-                     g.rtl_autoland == RtlAutoland::RTL_IMMEDIATE_DO_LAND_START)) {
-                    // already landing
-                    return;
-                }
-                set_mode(mode_rtl, ModeReason::FENCE_BREACHED);
-            } else {
-                set_mode(mode_guided, ModeReason::FENCE_BREACHED);
+            if (control_mode == &mode_auto &&
+                mission.get_in_landing_sequence_flag() &&
+                (g.rtl_autoland == RtlAutoland::RTL_THEN_DO_LAND_START ||
+                    g.rtl_autoland == RtlAutoland::RTL_IMMEDIATE_DO_LAND_START)) {
+                // already landing
+                return;
             }
+            set_mode(mode_rtl, ModeReason::FENCE_BREACHED);
+            break;
+
+        case AC_FENCE_ACTION_GUIDED:
+        case AC_FENCE_ACTION_GUIDED_THROTTLE_PASS:
+            set_mode(mode_guided, ModeReason::FENCE_BREACHED);
 
             Location loc;
-            if (fence.get_return_rally() != 0 || fence_act == AC_FENCE_ACTION_RTL_AND_LAND) {
+            if (fence.get_return_rally() != 0) {
                 loc = calc_best_rally_or_home_location(current_loc, get_RTL_altitude_cm());
             } else {
                 //return to fence return point, not a rally point
@@ -126,10 +126,8 @@ void Plane::fence_check()
                 }
             }
 
-            if (fence.get_action() != AC_FENCE_ACTION_RTL_AND_LAND) {
-                setup_terrain_target_alt(loc);
-                set_guided_WP(loc);
-            }
+            setup_terrain_target_alt(loc);
+            set_guided_WP(loc);
 
             if (fence.get_action() == AC_FENCE_ACTION_GUIDED_THROTTLE_PASS) {
                 guided_throttle_passthru = true;