I'm confused on the current state of Geofence support. In April, this post from Andreas highlighted what I think is a phenomenal safety and training addition to APM, it was 'experimental' and had to be patched into the code. Among other things, the patch added geofence.pde to the code.
In July, ArduCopter 2.7 was released stating under New and Improved:
- NEW: AP_Limits library: Altitude limits and geofencing
My thinking is that 2.7 would now contain the geofence code, but I cannot find geofence.pde in the code. Additionally trying to upload a complex fence to my 2.7.x (tried 1, 2, and 3) via Mission Planner results in a "Not Supported" message. Peeking into the MP code I see that the error can be caused by not having FENCE_ACTION set, which does not seem to be settable via MP nor exists in the ArduCopter code.
So in an attempt to stop chasing my tail a bit on this, can someone set me straight on the current state for Geofencing in arducopter. I would really like to create some bounds around my flying areas and altitudes to help compensate for two novice flyers.
Many thanks,
-J
Replies
Justin,
Did you ever get your issue resolved.
I'm getting the same message when trying to upload my geofence to APM2.8 running ArduPlane 3.4.0. I have Geofence enabled, home point set as well as max and min altitudes.
Hello i tried to find information a few weeks ago, too.
Here is the link on the wiki : https://code.google.com/p/ardupilot-mega/wiki/APLimitsLibrary
It's only a simple circular fence and an altitude limit that can be set with the parameters list on the planner.
I don't know about complex geofence ...
Example :
LIM_ENABLED : 1 ( Enables limits )
LIM_ALT_ON : 1 ( Enables altitude limits )
LIM_ALT_MAX : 150 ( Limit = 150 meters )
Other parameters are disabled ( default ). But you surely just need to activate the circular fence.
I personnaly try at 20m to see how it works, and it works quite well
except a time when throttle went really low reaching the limit and my quad almost flipped ...
;)