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AC_Fence:Add AUTOENABLE deprecation warning 

Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
This commit is contained in:
Henry Wurzburg 2024-07-23 19:12:43 -05:00 committed by Peter Barker
parent 2937fce42f
commit e4fc9b0b58
1 changed files with 11 additions and 0 deletions
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11
libraries/AC_Fence/AC_Fence.cpp
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@ -429,6 +429,17 @@ bool AC_Fence::pre_arm_check(char *failure_msg, const uint8_t failure_msg_len) c
hal.util->snprintf(failure_msg, failure_msg_len, "Fences enabled, but none selected");
return false;
}
// if AUTOENABLE = 1 or 2 warn now, but fail in a later release
// PARAMETER_CONVERSION - Added: Jul-2024 for ArduPilot-4.6
if (_auto_enabled == 1 || _auto_enabled == 2) {
static uint32_t last_autoenable_warn_ms;
const uint32_t now_ms = AP_HAL::millis();
if (now_ms - last_autoenable_warn_ms > 60000) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "FENCE_AUTOENABLE is %u, will be removed in 4.7, use 3", unsigned(_auto_enabled));
last_autoenable_warn_ms = now_ms;
}
}
// if not enabled or not fence set-up always return true
if ((!enabled() && !_auto_enabled) || !_configured_fences) {