Copter: ensure visible (led) and verbal (mission planner) warnings appear when Fence is breached

[rmackay9]

this is similar to issue #441

[rmackay9]

This is closely related to: https://github.com/diydrones/ardupilot/issues/1254

[Naterater]

Any chance the messages are already implemented? I wouldn't think this is difficult to do.

[IamPete1]

I suspect the GCS will already make an noise due to the sys status bit that will trip. But if not one could bump the severtity level here: https://github.com/ArduPilot/ardupilot/blob/0b0ca6a9e99e5f22621af1d0199f008ce1c786d0/ArduCopter/fence.cpp#L27

And then add a new notify bool for fail-safe fence breach here:

https://github.com/ArduPilot/ardupilot/blob/0b0ca6a9e99e5f22621af1d0199f008ce1c786d0/libraries/AP_Notify/AP_Notify.h#L116

And then check that bool here:

https://github.com/ArduPilot/ardupilot/blob/0b0ca6a9e99e5f22621af1d0199f008ce1c786d0/libraries/AP_Notify/RGBLed.cpp#L123

and add a new if such at this here:

https://github.com/ArduPilot/ardupilot/blob/0b0ca6a9e99e5f22621af1d0199f008ce1c786d0/libraries/AP_Notify/ToneAlarm.cpp#L332

[peterbarker]

I'm not sure why LEDs blinking is particularly useful for a fence breach. Interpreting the LED blinking patterns/colours is complicated enough, I don't think we should be adding to that mess.

GCS warnings are the GCS's outlook. the FENCE_STATUS and SYS_STATUS messages have more than enough information in them for a GCS to provide warnings (MAVProxy does, for example).

I propose we either close this issue, or move it to the MissionPlanner repo if that GCS still lacks a verbal warning for fence breach.

Does anybody think otherwise?

[rmackay9]

I think in general we should have an LED pattern for fence breach even though we expect the vehicle will be far away. Whenever we yank control from the pilot they need to be made aware and we have LED patterns for all other failsafes