Flightmode Change After Geofence Breach

ArduPlane VTOL Plane
1

Hi community,

I’m looking for clarification regarding setting the FENCE_OPTIONS bit 0. In the documentation, it says “Disable mode change following fence action until fence breach is cleared”. Does that include RC/pilot flight mode changes?

Vehicle is an experimental tailsitter. I’m concerned it would breach the fence in FW mode, stop responding to pilot intervention and fail to RTL/QRTL. On the other hand, I’m concerned it would get stuck changing between flight modes if I unset the bit, which happened previously with a certain other autopilot :slight_smile: I switched to Ardupilot after that incident!

Thank you!

2

Yes. This is off by default on copter for the reasons you state. The reason it exists is for regulatory compliance.

1 Like
3

Thank you for the help and all your Ardupilot contributions!

As feedback to developers, it would be nice to add a third option where automatic flight mode changes are disabled and manual flight mode changes are enabled.