From 36f3fb316acf71844be80e0337fdc66515b4cf50 Mon Sep 17 00:00:00 2001
From: murata <ma2maru@gmail.com>
Date: Sat, 13 Feb 2021 09:27:12 +0900
Subject: [PATCH] Copter: Notify the fence breach at the notification level

---
 ArduCopter/fence.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/ArduCopter/fence.cpp b/ArduCopter/fence.cpp
index 049d004fcc..ab9164ed72 100644
--- a/ArduCopter/fence.cpp
+++ b/ArduCopter/fence.cpp
@@ -23,6 +23,10 @@ void Copter::fence_check()
     // if there is a new breach take action
     if (new_breaches) {
 
+        if (!copter.ap.land_complete) {
+            GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Fence Breached");
+        }
+
         // if the user wants some kind of response and motors are armed
         uint8_t fence_act = fence.get_action();
         if (fence_act != AC_FENCE_ACTION_REPORT_ONLY ) {