AC 4.1.2 Fence Total count mismatch

Ground Control Software Mission Planner
1

I was uploaed fence on AC4.1.2 … totally created 4 polygon points and created genfence using fence inclusion.

But in in full parameter list Fence_ Total = 6 .

How could it possible while 4 points uploaded.

IMG_20211225_125641
IMG_20211225_1256411920×899 121 KB

IMG_20211225_125656
IMG_20211225_1256561920×899 236 KB

2

It set larger by 2 by the ardupilot code for compatibility reasons. As the code says.

    // this may be completely bogus total.  If we are storing an
    // advanced fence then the old protocol which relies on this value
    // will error off if the GCS tries to fetch points.  This number
    // should be correct for a "compatible" fence, however.
    uint16_t new_total = 0;
    if (total_vertex_count < 3) {
        new_total = 0;
    } else {
        new_total = total_vertex_count+2;
    }
    _total.set_and_save(new_total);
1 Like
3

And I think some fence upload issues have been fixed in 4.1.3-rc2