I’m trying to get a polygon fence working in Copter 3.5 (on a Solo). The way I understand it, I do the following to set up a polygon fence:
. Make sure I have a polygon (3+ points)
. Set FENCE_TOTAL to (polygon.length + 2)
. Set FENCE_ACTION to 0
. Send return point as index 0 using MAVLINK_MSG_ID_FENCE_POINT (lat, lng, index, total point count)
. For each polygon point, send using MAVLINK_MSG_ID_FENCE_POINT (incrementing the index each time)
. Set FENCE_TYPE to 4 (polygon)
. Set FENCE_ACTION to 1 (RTL or land)
. Set FENCE_ENABLE to 1.
Trouble is, I can’t seem to get it to activate. I’m trying to get it to fly inside a fence in Loiter as shown in this post: http://ardupilot.org/copter/docs/polygon_fence.html
Has anyone (besides @rmackay9 of course) gotten this to work? If so, what step(s) is/am I missing?