osforlife42 / ardupilot_fence_exercise

ardupilot fence exercise

ardupilot_fence_exercise

exercise:

Let's say we want to have the capability to signal our operator when they are flying the vehicle too high or too low.

In this exercise what we want from you to do is to add your own message sent from the pixhawk to the mission planner so that the operator could see this message.

We want these heights to be configurable.

DO NOT invent the wheel, use the open-source and find where you can extend current capabilities in the ardupilot code.

home solution steps:

enabling fence

check the docs here: https://ardupilot.org/copter/docs/common-geofencing-landing-page.html

updating the parameters:

FENCE_ENABLE = 1
FENCE_ACTION = 0 (so it won't do RTL everytime) 
FENCE_ALT_MAX = 20 (just lower it for ease)

updating messages sent to MissionPlanner

git status output:

On branch master
Your branch is behind 'origin/master' by 9524 commits, and can be fast-forwarded.
  (use "git pull" to update your local branch)

Changes not staged for commit:
  (use "git add <file>..." to update what will be committed)
  (use "git restore <file>..." to discard changes in working directory)
	modified:   ArduCopter/fence.cpp

git diff ArduCopter/fence.cpp output:

diff --git a/ArduCopter/fence.cpp b/ArduCopter/fence.cpp
index ab9164ed72..ddca61db2c 100644
--- a/ArduCopter/fence.cpp
+++ b/ArduCopter/fence.cpp
@@ -24,7 +24,11 @@ void Copter::fence_check()
     if (new_breaches) {
 
         if (!copter.ap.land_complete) {
-            GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Fence Breached");
+            GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "MY NEW Fence Breached");
+            if (new_breaches & AC_FENCE_TYPE_ALT_MAX) {
+                GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "your'e flying too HIGH!");
+            }
+
         }
 
         // if the user wants some kind of response and motors are armed

important remark ! mission planner overrides fence breach message with his own, so they might not see theirs on the hud but it is shown in the messages.