Program Fence Action

Argenis_Nunez · May 16, 2020, 6:07pm

Hi Comunity

How could I configure actions in each geofence depending on a variable included in the KML file.

Please help brothers

Thanks a lot…

JulianOes · May 18, 2020, 9:28am

That’s not a feature that is supported. You would have to add that yourself.

Here is a pointer for the geofence code:

github.com

PX4/Firmware/blob/b5cc3c4ef5d287b9bddebf2d86ef2ae683443df6/src/modules/navigator/navigator_main.cpp#L233-L235


				if (have_geofence_position_data &&
				    ((_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_NONE) &&
				     (_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_WARN))) {

technik41 · July 13, 2022, 2:06pm

Hi, any chance of updates to this?
Is PX4 still implementing one action only for Geofence breach or can we have multiple actions defined for multiple geofence areas?
What I would like to achieve is to have one smaller boundary where it might RTL on breach and one larger boundary where it would terminate if for instance the first action failed.