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docs/en/msg_docs/GeofenceResult.md
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@@ -1,8 +1,37 @@
---
pageClass: is-wide-page
---
# GeofenceResult (UORB message)
**TOPICS:** geofence_result
## Fields
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GeofenceResult.msg)
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------- | -------- | ------------ | ---------- | ---------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| geofence_max_dist_triggered | `bool` | | | true the check for max distance from Home is triggered |
| geofence_max_alt_triggered | `bool` | | | true the check for max altitude above Home is triggered |
| geofence_custom_fence_triggered | `bool` | | | true the check for custom inclusion/exclusion geofence(s) is triggered |
| geofence_action | `uint8` | | | action to take when the geofence is breached |
## Constants
| Name | Type | Value | Description |
| ------------------------------------------------------- | ------- | ----- | ------------------------------- | ------ |
| <a href="#GF_ACTION_NONE"></a> GF_ACTION_NONE | `uint8` | 0 | no action on geofence violation |
| <a href="#GF_ACTION_WARN"></a> GF_ACTION_WARN | `uint8` | 1 | critical mavlink message |
| <a href="#GF_ACTION_LOITER"></a> GF_ACTION_LOITER | `uint8` | 2 | switch to AUTO | LOITER |
| <a href="#GF_ACTION_RTL"></a> GF_ACTION_RTL | `uint8` | 3 | switch to AUTO | RTL |
| <a href="#GF_ACTION_TERMINATE"></a> GF_ACTION_TERMINATE | `uint8` | 4 | flight termination |
| <a href="#GF_ACTION_LAND"></a> GF_ACTION_LAND | `uint8` | 5 | switch to AUTO | LAND |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GeofenceResult.msg)
::: details Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -18,5 +47,6 @@ bool geofence_max_alt_triggered # true the check for max altitude above Home is
bool geofence_custom_fence_triggered # true the check for custom inclusion/exclusion geofence(s) is triggered
uint8 geofence_action # action to take when the geofence is breached
```
:::