FENCE_ parameters¶
14 parameters in the FENCE_ family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.
FENCE_ACTION¶
Fence Action
What action should be taken when fence is breached
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Report Only |
|
RTL or Land |
|
Always Land |
|
SmartRTL or RTL or Land |
|
Brake or Land |
|
SmartRTL or Land |
FENCE_ALT_MAX¶
Fence Maximum Altitude
Maximum altitude allowed before geofence triggers. See FENCE_ALT_MAX_TP for reference frame.
Units |
|
Range |
|
Increment |
|
User level |
Standard |
FENCE_ALT_MAX_TP¶
Altitude max frame type
The altitude reference frame for the maximum altitude fence. Can be AMSL, home-relative, origin relative or AGL.
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Above sea level |
|
Above Home |
|
Above Origin |
|
Above Terrain |
FENCE_ALT_MIN¶
Fence Minimum Altitude
Minimum altitude allowed before geofence triggers. See FENCE_ALT_MIN_TP for reference frame.
Units |
|
Range |
|
Increment |
|
User level |
Standard |
FENCE_ALT_MIN_TP¶
Altitude min frame type
The altitude reference frame for the minimum altitude fence. Can be AMSL, home-relative, origin relative or AGL.
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Above sea level |
|
Above Home |
|
Above Origin |
|
Above Terrain |
FENCE_AUTOENABLE¶
Fence Auto-Enable
Auto-enable of fences. AutoEnableOnTakeoff enables all configured fences, except the minimum altitude fence (which is enabled when the minimum altitude is reached), after autotakeoffs reach altitude. During autolandings the fences will be disabled. AutoEnableDisableFloorOnLanding enables all configured fences, except the minimum altitude fence (which is enabled when the minimum altitude is reached), after autotakeoffs reach altitude. During autolandings only the Minimum Altitude fence will be disabled. AutoEnableOnlyWhenArmed enables all configured fences on arming, except the minimum altitude fence (which is enabled when the minimum altitude is reached), but no fences are disabled during autolandings. However, fence breaches are ignored while executing prior breach recovery actions which may include autolandings.
Range |
|
Increment |
|
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
AutoEnableOff |
|
AutoEnableOnTakeoff |
|
AutoEnableDisableFloorOnLanding |
|
AutoEnableOnlyWhenArmed |
FENCE_ENABLE¶
Fence enable/disable
Allows you to enable (1) or disable (0) the fence functionality. Fences can still be enabled and disabled via mavlink or an RC option, but these changes are not persisted.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
FENCE_MARGIN¶
Fence Margin
Distance that autopilot’s should maintain from the fence to avoid a breach
Units |
|
Range |
|
User level |
Standard |
FENCE_MARGIN_XY¶
Fence Horizontal Margin
Distance that autopilot’s should maintain from the fence in the horizontal plane to avoid a breach. If set to 0 then FENCE_MARGIN is used.
Units |
|
Range |
|
User level |
Standard |
FENCE_NTF_FREQ¶
Fence margin notification frequency in hz
When bit 2 of FENCE_OPTIONS is set this parameter controls the frequency of margin breach notifications. If set to 0 only new margin breaches are notified.
Units |
|
Range |
|
User level |
Advanced |
FENCE_OPTIONS¶
Fence options
When bit 0 is set disable mode change following fence action until fence breach is cleared. When bit 1 is set the allowable flight areas is the union of all polygon and circle fence areas instead of the intersection, which means a fence breach occurs only if you are outside all of the fence areas.
User level |
Standard |
Bitmask¶
Value |
Meaning |
|---|---|
|
Disable mode change following fence action until fence breach is cleared |
|
Allow union of inclusion areas |
|
Notify on margin breaches |
FENCE_RADIUS¶
Circular Fence Radius
Circle fence radius which when breached will cause an RTL
Units |
|
Range |
|
User level |
Standard |
FENCE_TOTAL¶
Fence polygon point total
Number of polygon points saved in eeprom (do not update manually)
Range |
|
User level |
Standard |
FENCE_TYPE¶
Fence Type
Configured fence types held as bitmask. Max altitide, Circle and Polygon fences will be immediately enabled if configured. Min altitude fence will only be enabled once the minimum altitude is reached.
User level |
Standard |
Bitmask¶
Value |
Meaning |
|---|---|
|
Max altitude |
|
Circle Centered on Home |
|
Inclusion/Exclusion Circles+Polygons |
|
Min altitude |