handle last-changed stuff to redraw home-based-inclusion circle when home moves

Author: peterbarker

MAVProxy/modules/mavproxy_fence.py

@@ -29,6 +29,7 @@ def __init__(self, mpstate):
         self.present = False
         self.enabled = False
         self.healthy = True
+        self.last_home_change = 0
 
     def gui_menu_items(self):
         ret = super(FenceModule, self).gui_menu_items()
@@ -77,6 +78,12 @@ def count(self):
         '''return number of waypoints'''
         return self.wploader.count()
 
+    def last_change(self):
+        base_class_last_change = super().last_change()
+        if self.last_home_change > base_class_last_change:
+            return self.last_home_change
+        return base_class_last_change
+
     def circles_of_type(self, t):
         '''return a list of Circle fences of a specific type - a single
         MISSION_ITEM'''
@@ -256,9 +263,15 @@ def handle_sys_status(self, m):
         elif self.enabled is True and self.healthy is False:
             self.console.set_status('Fence', 'FEN', row=0, fg='red')
 
+    def handle_home_position(self, m):
+        self.last_home_change = time.time()  # see self.last_change in mavwp.py
+
     def mavlink_packet(self, m):
-        if m.get_type() == 'SYS_STATUS' and self.message_is_from_primary_vehicle(m):
+        m_type = m.get_type()
+        if m_type == 'SYS_STATUS' and self.message_is_from_primary_vehicle(m):
             self.handle_sys_status(m)
+        elif m_type == 'HOME_POSITION':
+            self.handle_home_position(m)
         super(FenceModule, self).mavlink_packet(m)
 
     def apply_function_to_points(self, function):