From e4fc9b0b587176fe462bdc9468db2cd227cde571 Mon Sep 17 00:00:00 2001 From: Henry Wurzburg Date: Tue, 23 Jul 2024 19:12:43 -0500 Subject: [PATCH] AC_Fence:Add AUTOENABLE deprecation warning Co-authored-by: Peter Barker --- libraries/AC_Fence/AC_Fence.cpp | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/libraries/AC_Fence/AC_Fence.cpp b/libraries/AC_Fence/AC_Fence.cpp index a856980def..7d4f6003e4 100644 --- a/libraries/AC_Fence/AC_Fence.cpp +++ b/libraries/AC_Fence/AC_Fence.cpp @@ -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) {