I converted my ZOHD Drift from iNav to Arduplane and re-maidened/autotuned it today.
I also tested the geofence functionality with the ultimate purpose of letting other people fly without them having to be afraid of crashing. Demonstrating that crashing is close to impossible is a huge confidence boost.
Drew and uploaded a polygon as an inclusion geofence, set a rally point, setup FENCE_ALT_MIN to 30m, FENCE_ALT_MAX to 120m and RC13_OPTION to 11 for enabling/disabling the fence.
The fence does work horizontally; if I try to fly from the inside to the outside of the fence I get a ‘Fence breached’ message and the associated action (RTL) is executed. Nice! So far so good.
I also tested if the lower altitude limit works, but no luck with that. With FENCE_ALT_MIN set to 30m I can descend to 5m altitude without breaching the fence.
Parameters:
FENCE_ACTION,1
FENCE_ALT_MAX,120
FENCE_ALT_MIN,30
FENCE_AUTOENABLE,0
FENCE_ENABLE,0
FENCE_MARGIN,2
FENCE_OPTIONS,1
FENCE_RADIUS,300
FENCE_RET_ALT,0
FENCE_RET_RALLY,1
FENCE_TOTAL,9
FENCE_TYPE,4
RC13_MAX,1900
RC13_MIN,1100
RC13_OPTION,11
Mission points:
QGC WPL 110
0 1 0 16 0 0 0 0 51.8004879 5.553224 -127.940000 1
1 0 0 5001 7.00000000 0.00000000 0.00000000 0.00000000 51.79545180 5.54504870 0.000000 1
2 0 0 5001 7.00000000 0.00000000 0.00000000 0.00000000 51.80271050 5.54867500 0.000000 1
3 0 0 5001 7.00000000 0.00000000 0.00000000 0.00000000 51.80240530 5.55712930 0.000000 1
4 0 0 5001 7.00000000 0.00000000 0.00000000 0.00000000 51.79821210 5.55652850 0.000000 1
5 0 0 5001 7.00000000 0.00000000 0.00000000 0.00000000 51.79732300 5.55498360 0.000000 1
6 0 0 5001 7.00000000 0.00000000 0.00000000 0.00000000 51.79553150 5.55290220 0.000000 1
7 0 0 5001 7.00000000 0.00000000 0.00000000 0.00000000 51.79501390 5.55062770 0.000000 1
I tried the same using the built-in simulation in Mission Planner, which shows the same behaviour; geofence works horizontally but it ignores FENCE_ALT_MIN and FENCE_ALT_MAX.
Arduplane 4.3.5, Mission Planner 1.3.80 running on Windows.
Stupid user error probably, but where?