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