RTL,SmartRTL or Land Not Working When Fence Breached

ArduCopter Copter 4.3
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1

Copter not doing RTL,smartRTL or Land when we breached range.
ArduCopter version 4.3.2

Screenshot from 2023-08-18 16-06-46(1)
Screenshot from 2023-08-18 16-06-46(1)1920Ă—1080 355 KB

Copter completed 1 waypoint and after that I change it into loiter mode then I flew copter just outside fence. It shows warning " Fence Breached " , and changes its mode to RTL or smartRTL but it could not able to move from that position, even after change mode to RTL or smartRTL manually.
I added breach point also, still not working.

FENCE_ACTION https://ardupilot.org/copter/docs/parameters.html#fence-action-fence-action: 1

FENCE_ENABLE https://ardupilot.org/copter/docs/parameters.html#fence-parameters: 1

FENCE_TYPEhttps://ardupilot.org/copter/docs/parameters.html#fence-type-fence-type : 7

OA_TYPE https://ardupilot.org/copter/docs/parameters.html#oa-type-object-avoidance-path-planning-algorithm-to-use: 1

AVOID_ENABLE https://ardupilot.org/copter/docs/parameters.html#avoid-enable-avoidance-control-enable-disable: 0

And if we set OA_TYPE to 3 and do same above procedure, then it is showing warning/error message " Dijkstra could not find path " and stuck on current position.

2

Share a .bin log file from that flight. Might be something else going on.

Also let us know what kind of flight controller you’re using.

3

You might be able to use Stabilise mode or even AltHold to return to the inside of the Fence.
I dont understand how you ended up outside the Fence though…

When I tested recently I found:
In Loiter mode I could NOT make it do an RTL or breach just by pushing against the fence radius or altitude. I just could not exceed the fence boundary.

In AltHold mode I could breach the fence radius which caused RTL, but could NOT breach Altitude.

In Stabilise mode I could breach altitude and radius, which initiated RTL in each case.

A .bin log would be handy

1 Like
4

@xfacta @Allister
I am using sitl for simulation.
Here I am sharing simulation video and binary log.

BIN- https://app.box.com/s/531cgu6ktdugqjo181two4tc4sbzmhi2

Recording - https://app.box.com/s/te8ytuegauaiypkw9xm7iugwidv48sci

0:18 - Started guided mode.

0:53 - Triggering loiter mode manually.

1:08 - Fence breached and RTL mode triggered automatically.

1:24 - Copter stuck near fence and throw error " Dijkstra could not found path ".

1:47 - Triggering loiter mode and moved copter inside fence.

2:14 - Triggering RTL mode manually and started successfully.

2:55 - Landed successfully.

5

It’s like you started from within an Exclusion fence (polygon) then could not get back into that area once you left it.

6

Yess. I have to do loiter to get back in fence and then RTL.

7

This section of your log seems to indicate that you properly uploaded an inclusion fence. I think “98” is the flag for that. When I run a similar mission with an exclusion fence, that field changes to “97.”

FNCE, 87470831, 4, 0, 98, -35.3626232, 149.1641152, 4, 0
FNCE, 87470831, 4, 1, 98, -35.3624672, 149.1655441, 4, 0
FNCE, 87470831, 4, 2, 98, -35.3636083, 149.1655926, 4, 0
FNCE, 87470831, 4, 3, 98, -35.3637642, 149.1642427, 4, 0

The behavior you got was definitely indicative of an exclusion fence, however.