Fence breach in IRIS+

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1

Hi
I did my iris+ flight i and in between the mission iris+ did an unexpected land towards the end while it was in Loiter mode. I figured from the logs later on that it was an altitude fence breach. However when I play the logs the action displayed during fence breach is RTL where as it simply landed at its current position and not at its actual home position.

I have read that in the event of a GPS failsafe if vertical fence is breached then iris lands at its current position but the logs show that GPS fix was there all the time. I am not able to get the reason as to why did it do a land on fence breach instead of RTL. Also in the same mission I breached the circular fence too before this which worked perfectly fine and the iris did and RTL.

I am attaching the telemetry logs. It will be great if someone can throw some light on this.

Thanks
Alvika

2

I think default behavior is to land if the fence perimeter is breached.
You can change this to RTL. Also, you can change the perimeter settings.

GPS is not going to give you an exact position.
I’ve had my quad land 10 feet away from where home is when doing a RTL.
Maybe it was close to home and thought it was home already?

3

This makes me think of something that might be worth playing with (too windy to fly today, but I’m curious about this now):

What if you set your Fence altitude to a value lower than the RTL altitude, and then climb high enough to breach the fence and trigger an RTL? What happens? It would be interesting to see if this causes an infinite loop. :slight_smile: