GeoFencing

Plane firmware prior to 4.1 supports failsafes generated by a polygonal GeoFence (boundaries described by latitude/longitude and altitude) to prevent the vehicle from traveling higher or further than desired, or into unwanted areas. See Geo-Fencing in Plane

Firmware versions 4.1 and later, support a home based Cylindrical (“TinCan”) and Polygonal and/or Cylindrical, Inclusion and/or Exclusion regions. Inclusion and Exclusion Fences are defined easily in Mission Planner under the PLAN screen and loaded to the autopilot, using the FENCES item in the drop down box, just like Missions or Rally Points are planned. Upon Fence breach, selectable actions are taken.

TYPE OF FENCE FENCE_TYPE bit PLANE COPTER ROVER
Cylindrical (“TinCan”)
  • Center is HOME
  • Parameters for radius, height
1 “Circle” X X X
Inclusion/Exclusion Zones
  • Abritrary Locations
  • Polygonal or Circular
  • Inclusion or Exclusion
  • Defined by list, like missions
  • No height/altitude restriction
2 “Polygonal” X X X
Global Maximum Altitude
  • FENCE_ALT_MAX defines max altitude
0 “Max altitude” X X  
Global Minimum Altitude
  • FENCE_ALT_MIN defines min altitude
3 “Min altitude” X