Plane: output user-friendly fence messages

ArduPilot · Jan 19, 2024 · 7b48abe · 7b48abe
1 parent fce8014
commit 7b48abe
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/ArduPlane/fence.cpp b/ArduPlane/fence.cpp
@@ -50,7 +50,11 @@ void Plane::fence_check()
     }
 
     if (new_breaches) {
-        GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Fence Breached");
+        char msg[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
+        uint8_t msglen = AC_Fence::get_fence_names(new_breaches, msg, MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN);
+        msg[msglen] = 0;
+
+        GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "%s breached", msg);
 
         // if the user wants some kind of response and motors are armed
         const uint8_t fence_act = fence.get_action();