Fence warn at the margins #28840
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Fence warn at the margins #28840
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andyp1per
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timtuxworth
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Dec 12, 2024
libraries/AC_Fence/AC_Fence.cpp
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| // emit a message indicated we're newly-breached, but not too often | ||
| if (option_enabled(OPTIONS::MARGIN_BREACH) | ||
| && AP_HAL::timeout_expired(_last_margin_breach_notify_sent_ms, now, 1000U)) { |
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parameterize "not too often"?
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I'm loathe to add another parameter unless its really required - we have many other repeating messages in warning situations that do not have a configurable repeat interval
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Fair enough, but this seems to be every second. (Do I have that wrong?) That seems pretty often to me.
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Yeah, open to a better value - although you obviously can turn it off. You only get the warning when you are inside the fence but outside the margin - its supposed to be naggy.
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This PR allows you to get a repeated warning when flying outside FENCE_MARGIN but inside the fence itself. Can be enabled by setting FENCE_OPTIONS=4. Multiple people have requested this because they are required to have a hard fence with failsafe action for regulatory reasons but want to know when they are close so they can avoid the action (typically when flying manually)