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GCS_Mavlink: report on fence limiting

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Peter Hall 2019-08-22 18:12:03 +01:00 committed by Randy Mackay
parent 7a5f57f940
commit ba811052f8
1 changed files with 13 additions and 1 deletions
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14
libraries/GCS_MAVLink/GCS_Fence.cpp
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@ -1,6 +1,7 @@
#include "GCS.h" #include "GCS.h"
#include <AC_Fence/AC_Fence.h> #include <AC_Fence/AC_Fence.h>
#include <AC_Avoidance/AC_Avoid.h>
MAV_RESULT GCS_MAVLINK::handle_command_do_fence_enable(const mavlink_command_long_t &packet) MAV_RESULT GCS_MAVLINK::handle_command_do_fence_enable(const mavlink_command_long_t &packet)
{ {
@ -62,11 +63,22 @@ void GCS_MAVLINK::send_fence_status() const
mavlink_breach_type = FENCE_BREACH_BOUNDARY; mavlink_breach_type = FENCE_BREACH_BOUNDARY;
} }
// report on Avoidance liminting
uint8_t breach_mitigation = FENCE_MITIGATE_UNKNOWN;
const AC_Avoid* avoid = AC_Avoid::get_singleton();
if (avoid != nullptr) {
if (avoid->limits_active()) {
breach_mitigation = FENCE_MITIGATE_VEL_LIMIT;
} else {
breach_mitigation = FENCE_MITIGATE_NONE;
}
}
// send status // send status
mavlink_msg_fence_status_send(chan, mavlink_msg_fence_status_send(chan,
static_cast<int8_t>(fence->get_breaches() != 0), static_cast<int8_t>(fence->get_breaches() != 0),
fence->get_breach_count(), fence->get_breach_count(),
mavlink_breach_type, mavlink_breach_type,
fence->get_breach_time(), fence->get_breach_time(),
0); breach_mitigation);
} }