geofencing.md

Geofencing in MAVProxy

1. ArduPilot supports fences to allow your vehicle to only fly at certain areas.
2. Start the MAVProxy using mavproxy.py --master=127.0.0.1:14550 --console --map.
3. To enable fences, param set FENCE_ENABLE 1 or fence enable.
4. To disable fences, param set FENCE_ENABLE 0 or fence disable.
5. FENCE_TYPE is a bitmask parameter and used to which fence types will be used.
   1. By default, 7, maximum altitude, circle, and polygon fences are enabled.
   2. To enable minimum altitude, do param set FENCE_TYPE 15, and also set minimum altitude like param set FENCE_ALT_MIN 10 but with doing this, vehicle can't take off if FENCE_ALT_MIN is greater than zero. So for takeoff, fence disable must be done.
6. By default, there is a cylindrical fence centered at home location with minimum and maximum altitudes.
   1. Radius can be set using param set FENCE_RADIUS 300. By doing that vehicle can't go further than 300 meters.
   2. Maximum altitude can be set using param set FENCE_ALT_MAX 50. By doing that vehicle can't fly higher than 50 meters.
   3. Minimum altitude can also be set using param set FENCE_ALT_MIN 10 but param set FENCE_TYPE 15 must be done. By doing that vehicle can't go lower than 10 meters.
7. By default, vehicle do RTL when breaches fence but behavior can be set using FENCE_ACTION.
8. If you want to disable user input during landing, param set LAND_REPOSITION 0

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