Fence enhancement to match EASA regulations

ArduCopter Copter 4.6
1

This could be advanced features that can be activated by parameter like “FENCE_ADVANCED”:

Reject arming if fence is not set
Reject modificating fence in flight
Reject new waypoint if outside fence
Reject new home origine if outside fence
Make that in auto/guided mode autopilot manage to respect the fence marging (wich is not the case)
Reject geocaging polygones with crossing segments

With LUA we can do:
Reject arming if fence is not set

Please let me know it there is a way in LUA to match the other mandatory requisits…

2

it shouldn’t be hard to add the missing part, that is mostly some parameters to add .
Do you want to make some PRs for those ?

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