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Plane: Display Fence Breach message in GCS

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Send a "Geofence breach" message to the Ground Control Station. Without this when the fence is breached and if anything happens as a result, such as RTL, it will happen silently.
This commit is contained in:
Tim Tuxworth 2022-03-09 23:55:57 -08:00 committed by Andrew Tridgell
parent 8b7366d619
commit 6e915df31b
1 changed files with 4 additions and 0 deletions
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4
ArduPlane/fence.cpp
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@ -50,6 +50,10 @@ void Plane::fence_check()
// user disables/re-enables using the fence channel switch
return;
}
if(new_breaches && plane.is_flying()) {
GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Fence Breached");
}
if (new_breaches || orig_breaches) {
// if the user wants some kind of response and motors are armed