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Plane: use fence enable_configured()

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avoid fence breach clearing spam
This commit is contained in:
Andy Piper 2024-02-08 14:46:01 +00:00 committed by Peter Barker
parent 0288e1e79c
commit 559bd1e252
2 changed files with 4 additions and 3 deletions
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4
ArduPlane/commands_logic.cpp
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@ -147,10 +147,10 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
case MAV_CMD_DO_FENCE_ENABLE: case MAV_CMD_DO_FENCE_ENABLE:
#if AP_FENCE_ENABLED #if AP_FENCE_ENABLED
if (cmd.p1 == 0) { // disable fence if (cmd.p1 == 0) { // disable fence
plane.fence.enable(false); plane.fence.enable_configured(false);
gcs().send_text(MAV_SEVERITY_INFO, "Fence disabled"); gcs().send_text(MAV_SEVERITY_INFO, "Fence disabled");
} else if (cmd.p1 == 1) { // enable fence } else if (cmd.p1 == 1) { // enable fence
plane.fence.enable(true); plane.fence.enable_configured(true);
gcs().send_text(MAV_SEVERITY_INFO, "Fence enabled"); gcs().send_text(MAV_SEVERITY_INFO, "Fence enabled");
} else if (cmd.p1 == 2) { // disable fence floor only } else if (cmd.p1 == 2) { // disable fence floor only
plane.fence.disable_floor(); plane.fence.disable_floor();

3
ArduPlane/fence.cpp
View File

@ -115,7 +115,8 @@ void Plane::fence_check()
} }
LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches)); LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
} else if (orig_breaches) { } else if (orig_breaches && fence.get_breaches() == 0) {
GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Fence breach cleared");
// record clearing of breach // record clearing of breach
LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode::ERROR_RESOLVED); LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode::ERROR_RESOLVED);
} }