Geofence breach no backup fences

ArduCopter Copter 4.6
1

In the docs of ardu states that ardupiliot has build-in backup fences

“At the moment the fence is breached a backup fence is erected 20m further out (or up). If the vehicle breaches this backup fence (for example if the vehicle is not set up correctly or the operator takes control but is unable to bring the copter back towards home), the vehicle will execute the FENCE_ACTION again (and another backup fence an additional 20m further out will be created if this is breached again).

This feature I can not get to work after 4.5.7
I tested in 4.5.7 and worked fine.

In 4.6 - 4.6.2 - 4.6.3 and 4.7dev I cant get it to work anymore.

After the first breach, the vehicle brakes as expected. But when I change mode to take over and continue flying outside the fence boundary, the backup fence does not activate.

@andyp1per any suggestions? :wink:

Im sorry. I cant share log file for professional reasons.

2

If it works in 4.5.7 but not in 4.6 onwards then it must be a regression. Can you raise an issue please?

3

Do you mean ‘brake’ as in ‘brake mode’ or just “slows down as it starts to RTL”?

My test here appears to show that the feature is working in at least a trivial case.

4

Hi Peter,

Brake mode, Im flying acro into the fence, it brakes, then I switch to another mode, stabilize, to take over control again, I continue flying outside the fence bounderary without ardu kicks in a backup fence after 20m.

I flew up to 200m away from the fence without backup in stabilize or acro mode.

processed-F2169DA6-6953-49F5-B21B-29955E9CE145
processed-F2169DA6-6953-49F5-B21B-29955E9CE1451920×1081 486 KB

Thanks

Tom

5

Ah. I think I see the problem.

Your image there shows a polygon fence. If you are expecting a backup fence to be created for that polygon fence you will be disappointed - we only create the backup fence for the cylindrical fence (creating a backup fence for a polygon fence rather harder.

@andyp1per has done some work recently that might allow for a polygon backup fence, however.

Could you confirm that you were expecting a backup fence for polygons, please? If so we probably need some documentation fixes.

1 Like
6

Thanks you so much! So I must have circle fence on in my tests in 4.5.7 while ago.
writing SOP for custom drones on ARDU. So thats an important detail for flight safety SOP. :wink:

So yes I confirm I was explenting backup fence for Polygons.

Thanks again Peter!