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60 lines
2.9 KiB
Markdown
60 lines
2.9 KiB
Markdown
# 地理围栏
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围栏是一个虚拟边界，用于定义机体可以在哪些地方行驶。
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围栏可用于防止机体飞出遥控器的范围，或进入不安全或受限制的空域。
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PX4提供了两个独立的机制来指定围栏：
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- 一个是基本的“故障保护”地理围栏，定义了一个简单的圆柱体。
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- More complicated geometries can be defined using a Geofence Plan (_QGroundControl_).
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:::info
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GeoFences apply in all modes, including both missions and manual flight.
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:::
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## 故障保护地理围栏
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The [Geofence Failsafe](../config/safety.md#geofence-failsafe) defines a cylinder centered on the home position, with a specified maximum radius and altitude.
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设置中还包括越界时的故障保护动作。
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This may simply be a warning notification, but more commonly a vehicle will immediately [Return](../flight_modes/return.md) to a safe location.
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For more information see: [Safety > Geofence Failsafe](../config/safety.md#geofence-failsafe).
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## 地理围栏规划
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PX4 支持由多个圆形和多边形区域组成的复杂地理围栏边界，这些区域可以定义为包含（禁出）或排除（禁入）区域。
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The Geofence is planned in _QGroundControl_ alongside the mission and rally points.
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Geofence planning is fully documented in [Plan View > GeoFence](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/plan_view/plan_geofence.html) (QGroundControl User Guide).
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总结：
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1. Open _QGroundControl > Plan View_.
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2. Select the _Plan Type_ radio button: **Fence**.
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This will display the _GeoFence Editor_.
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3. Select the **Polygon Fence** or **Circular Fence** button to add a _basic_ fence of the desired type to the map.
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这也在编辑器中增加了此类围栏的条目。
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4. 在地图上调整围栏的形状和位置。
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- 围栏中心的圆点可以用来调整围栏的位置。
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- 边界上的圆点可以用来调整半径。
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- 角（顶点）上的圆点可以用来改变多边形的形状。
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点击线段中间可以在两个顶点中添加新的顶点。
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5. Use the _Geofence Editor_ to set a fence as an inclusion or exclusion, and to select a fence to edit (**Edit** radio button) or Delete (**Del** button).
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6. 可添加任意数量的围栏
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7. Once finished, click on the **Upload** button (top right) to send the fence (along with rally points and mission) to the vehicle.
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8. Set the breach action in the [Geofence Failsafe](../config/safety.md#geofence-failsafe).
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:::info
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Any geofence that does not include the Home position will be rejected by the flight controller and not uploaded.
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If the vehicle is flying, also any geofence that would immediately get breached after the upload is rejected.
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:::
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:::info
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PX4 implements the MAVLink [Mission microservice](https://mavlink.io/en/services/mission.html), which includes support for GeoFences.
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:::
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