False Geofence Trigger

PX4 Autopilot Multicopter 🛸
1

Hello,

I had geofence trigger today, but it did not appear to hit it.

Here is the geofence that I had created and uploaded
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And here is where we flew
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It appears that the Geofence trigger occurred here
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And I confirmed that it occurred in the logs as well.

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Here is the log on Flight Review:
https://review.px4.io/plot_app?log=5e93792c-c929-4a45-8012-f895c80b7c45

Vehicle Details:
Quad Layout
PX4 Version: 1.13.2 Stable
Flight Controller: Cube Orange

Any insights would be great thank you

2

My estimate thus far is that this is due to predictive geofence

I was giving the UAV a decent amount of forward acceleration at the time to test stable position mode and recovery when letting go of sticks.

I am predicting something went wrong with the predictive capabilities of the geofence and incorrectly issued the geofence breach behavior

3

Alex K also shared knowledge on it here: Discord

4

I am able to see similar things in SITL

5

Let me ping @tumbili…

6

This might be expected behavior, but when geofence breach set to termination…makes it a bit unpredictable.