From c667ef3aa4a06dbb15ae69de1bf8beb21d7c6bf6 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Tue, 13 Feb 2024 21:09:14 +0000 Subject: [PATCH] Plane: avoid fence breach clearing spam --- ArduPlane/fence.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ArduPlane/fence.cpp b/ArduPlane/fence.cpp index 920b3fb115e3cf..1db8804b5a4bab 100644 --- 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); }