mirror of https://github.com/ArduPilot/ardupilot
Copter: fence enable/disable via MAVLink
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@ -1316,6 +1316,26 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
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}
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break;
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case MAV_CMD_DO_FENCE_ENABLE:
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#if AC_FENCE == ENABLED
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result = MAV_RESULT_ACCEPTED;
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switch ((uint16_t)packet.param1) {
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case 0:
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fence.enable(false);
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break;
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case 1:
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fence.enable(true);
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break;
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default:
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result = MAV_RESULT_FAILED;
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break;
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}
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#else
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// if fence code is not included return failure
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result = MAV_RESULT_FAILED;
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#endif
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break;
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default:
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result = MAV_RESULT_UNSUPPORTED;
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break;
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