I’m testing the geofence features in ArduCopter 4.6.2 on an F4 board quadcopter.
My findings are as follows:
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When you hit the fence, the quadcopter brakes (as expected, since my fence action is set to “Brake”). However, after re-entering the fence area, it takes about 10 seconds before the fence is re-established and active again. During this time, you can hit the boundary, but the brake won’t trigger immediately.
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If I hit the fence again while the “Fence Recovery” message is still visible in the OSD, I can easily breach the fence, and no brake action is triggered.
Second finding:
- When the quadcopter is braking due to a fence hit and I switch to another flight mode to regain control, I can fly farther away from the fence area. However, the backup fence (default every 20 m) does not activate. The “Fence Breach” message just blinks, but the braking action doesn’t engage.
Do you know if this behavior is still a work in progress, or if the geofence system in ArduCopter is not yet fully stable or safe in this version?
Thanks