Copter: pass polygon fence mavlink messages to fence

9 years ago · 52d81f630f
1 changed files with 8 additions and 0 deletions
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@ -1944,6 +1944,14 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
				@@ -1944,6 +1944,14 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
        break;
 #endif

+#if AC_FENCE == ENABLED
+    // send or receive fence points with GCS
+    case MAVLINK_MSG_ID_FENCE_POINT:            // MAV ID: 160
+    case MAVLINK_MSG_ID_FENCE_FETCH_POINT:
+        copter.fence.handle_msg(chan, msg);
+        break;
+#endif // AC_FENCE == ENABLED
+
 #if CAMERA == ENABLED
    //deprecated.  Use MAV_CMD_DO_DIGICAM_CONFIGURE
    case MAVLINK_MSG_ID_DIGICAM_CONFIGURE:      // MAV ID: 202