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Plane: only trigger fence action for new breaches

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Iampete1 2022-08-06 21:44:31 +01:00 committed by Andrew Tridgell
parent 367984a6b8
commit a8a1e619df
1 changed files with 4 additions and 6 deletions
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10
ArduPlane/fence.cpp
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@ -49,17 +49,15 @@ void Plane::fence_check()
(plane.control_mode_reason == ModeReason::RTL_COMPLETE_SWITCHING_TO_FIXEDWING_AUTOLAND) ||
(plane.control_mode_reason == ModeReason::QRTL_INSTEAD_OF_RTL) ||
(plane.control_mode_reason == ModeReason::QLAND_INSTEAD_OF_RTL);
if (orig_breaches && (current_mode_breach || (previous_mode_breach && previous_mode_complete))) {
if (current_mode_breach || (previous_mode_breach && previous_mode_complete)) {
// we have already triggered, don't trigger again until the
// 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 (new_breaches) {
GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Fence Breached");
// if the user wants some kind of response and motors are armed
const uint8_t fence_act = fence.get_action();
switch (fence_act) {