I created a new plane for some SITL testing and loaded a previously saved param file that contained FENCE_AUTOENABLE = true. I set up a mission, but no fence.
When the plane successfully completed takeoff I got the “Geofence enabled, autoenabled” message - but there was no fence. So as a pilot I might be under the mistaken impression that there is a geofence in place - when in fact there is not. I could imagine that this might be disastrous if this was a real plane.
Perhaps fence autoenable ought to check that there is a fence?
This is with a local build from master (last pulled 2022-March-30)
I’ve noticed that there is a similar problem with RC fence enable - you can “enable” the fence using the switch, even if there is no fence. A related problem is that RC tells the GCS that the switch has gone high or low, but doesn’t notify it that the fence is enabled/disabled.
and also the fact that a MavLink command to enable the fence will also apparently work, even if there is no fence on the plane.
I’ve done an improved version of this PR that fixes these two issues two.
Hi @amilcarlucas , I’ve tested this PR now and submitted it for review. I updated the PR to include pre-arm checks and also GCS warnings if fence is enabled using FENCE_ENABLE, Auto-enable, RC channel switch or mavlink message when there is no fence.
I think it makes it much safer. Please take another look at my PR. Thank you!