From 6e915df31b13fe48827d0c2bff93d4aa7ffdc7a6 Mon Sep 17 00:00:00 2001
From: Tim Tuxworth <tim@objectivedata.com>
Date: Wed, 9 Mar 2022 23:55:57 -0800
Subject: [PATCH] Plane: Display Fence Breach message in GCS

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

diff --git a/ArduPlane/fence.cpp b/ArduPlane/fence.cpp
index df2b69c09c..d22a50bb75 100644
--- a/ArduPlane/fence.cpp
+++ b/ArduPlane/fence.cpp
@@ -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