Plane: avoid fence breach clearing spam

ArduPilot · Feb 13, 2024 · c667ef3 · c667ef3
1 parent 5e25f51
commit c667ef3
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/ArduPlane/fence.cpp b/ArduPlane/fence.cpp
@@ -118,7 +118,8 @@ void Plane::fence_check()
         }
 
         LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
-    } else if (orig_breaches) {
+    } else if (orig_breaches && fence.get_breaches() == 0) {
+        GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Fence breach cleared");
         // record clearing of breach
         LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode::ERROR_RESOLVED);
     }