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Copter: Notify the fence breach at the notification level

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murata 2021-02-13 09:27:12 +09:00 committed by Randy Mackay
parent db06de5c9c
commit 36f3fb316a
1 changed files with 4 additions and 0 deletions
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4
ArduCopter/fence.cpp
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@ -23,6 +23,10 @@ void Copter::fence_check()
// if there is a new breach take action // if there is a new breach take action
if (new_breaches) { 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 // if the user wants some kind of response and motors are armed
uint8_t fence_act = fence.get_action(); uint8_t fence_act = fence.get_action();
if (fence_act != AC_FENCE_ACTION_REPORT_ONLY ) { if (fence_act != AC_FENCE_ACTION_REPORT_ONLY ) {