Polygon Fence in Copter 3.5?


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)
. 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?


Update: It seems I was doing the following things wrong:

. Setting the close point to the last of the polygon points, where it actually needs to be the same as the first point.

And, that’s about it. :slight_smile:

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