From 738586342c3d5fc478d969fa70074c3c8440cc38 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Tue, 2 Jan 2024 19:47:43 +0000
Subject: [PATCH] Copter: notify when fence breach has cleared

output fence breach type
when switching mode without a fence action do not go into manual recovery
only recover if there is a fence action
implement auto-takeoff fence options
output user-friendly fence names
auto-enable fences on auto-takeoff
use fence enable_configured()
simplify message printing
---
 ArduCopter/fence.cpp       |  5 +++--
 ArduCopter/mode.cpp        | 10 ++++++----
 ArduCopter/mode_auto.cpp   |  4 ++--
 ArduCopter/mode_guided.cpp |  3 +++
 4 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/ArduCopter/fence.cpp b/ArduCopter/fence.cpp
index 3bfe085c2b..aba1ecce5b 100644
--- a/ArduCopter/fence.cpp
+++ b/ArduCopter/fence.cpp
@@ -24,7 +24,7 @@ void Copter::fence_check()
     if (new_breaches) {
 
         if (!copter.ap.land_complete) {
-            GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Fence Breached");
+            fence.print_fence_message("breached", new_breaches);
         }
 
         // if the user wants some kind of response and motors are armed
@@ -81,7 +81,8 @@ void Copter::fence_check()
 
         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
         LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode::ERROR_RESOLVED);
     }
diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index ce191b0c1e..69cda90680 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -371,10 +371,12 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
 #endif
 
 #if AP_FENCE_ENABLED
-    // pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
-    // this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
-    // but it should be harmless to disable the fence temporarily in these situations as well
-    fence.manual_recovery_start();
+    if (fence.get_action() != AC_FENCE_ACTION_REPORT_ONLY) {
+        // pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
+        // this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
+        // but it should be harmless to disable the fence temporarily in these situations as well
+        fence.manual_recovery_start();
+    }
 #endif
 
 #if AP_CAMERA_ENABLED
diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index 3ac943f06d..9a6b684cf1 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -791,10 +791,10 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
     case MAV_CMD_DO_FENCE_ENABLE:
 #if AP_FENCE_ENABLED
         if (cmd.p1 == 0) { //disable
-            copter.fence.enable(false);
+            copter.fence.enable_configured(false);
             gcs().send_text(MAV_SEVERITY_INFO, "Fence Disabled");
         } else { //enable fence
-            copter.fence.enable(true);
+            copter.fence.enable_configured(true);
             gcs().send_text(MAV_SEVERITY_INFO, "Fence Enabled");
         }
 #endif //AP_FENCE_ENABLED
diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
index a771c0fdaa..f22501e47f 100644
--- a/ArduCopter/mode_guided.cpp
+++ b/ArduCopter/mode_guided.cpp
@@ -685,6 +685,9 @@ void ModeGuided::takeoff_run()
     auto_takeoff.run();
     if (auto_takeoff.complete && !takeoff_complete) {
         takeoff_complete = true;
+#if AP_FENCE_ENABLED
+        copter.fence.auto_enable_fence_after_takeoff();
+#endif
 #if AP_LANDINGGEAR_ENABLED
         // optionally retract landing gear
         copter.landinggear.retract_after_takeoff();