mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
88d623bedb
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
60 lines
3.1 KiB
Markdown
60 lines
3.1 KiB
Markdown
# Geofence
|
|
|
|
A Geofence is a virtual boundary that defines where a vehicle can travel.
|
|
GeoFences can be used to prevent a vehicle flying out of range of the RC controller, or into unsafe or restricted airspace.
|
|
|
|
PX4 provides two independent mechanisms for specify a geofence:
|
|
|
|
- A basic "failsafe" geofence that defines a simple cylinder.
|
|
- More complicated geometries can be defined using a Geofence Plan (_QGroundControl_).
|
|
|
|
::: info
|
|
GeoFences apply in all modes, including both missions and manual flight.
|
|
:::
|
|
|
|
## Failsafe Geofence
|
|
|
|
The [Geofence Failsafe](../config/safety.md#geofence-failsafe) defines a cylinder centered on the home position, with a specified maximum radius and altitude.
|
|
|
|
The settings also include a "failsafe action" in the event that the fence is breached.
|
|
This may simply be a warning notification, but more commonly a vehicle will immediately [Return](../flight_modes/return.md) to a safe location.
|
|
|
|
For more information see: [Safety > Geofence Failsafe](../config/safety.md#geofence-failsafe).
|
|
|
|
## Geofence Plan
|
|
|
|
PX4 supports complex Geofence boundaries made up of multiple circular and polygonal regions, which may be defined as either inclusion (fly within) or exclusion (fly outside) areas.
|
|
|
|
The Geofence is planned in _QGroundControl_ alongside the mission and rally points.
|
|
|
|
|
|
|
|
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).
|
|
|
|
In summary:
|
|
|
|
1. Open _QGroundControl > Plan View_.
|
|
1. Select the _Plan Type_ radio button: **Fence**.
|
|
This will display the _GeoFence Editor_.
|
|
|
|
1. Select the **Polygon Fence** or **Circular Fence** button to add a _basic_ fence of the desired type to the map.
|
|
This also adds an entry for the type of fence in the editor.
|
|
1. Use the map to configure the shape and position of the fence.
|
|
- The fence center marker can be used to move the fence to the correct position.
|
|
- The marker on the border of a circular fence can be used to change the radius.
|
|
- The markers on corners (vertices) can be used to change the geometry of a polygon.
|
|
Additional vertices are created by clicking halfway along the lines between existing markers.
|
|
1. 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).
|
|
1. Add as many fences as you like.
|
|
1. Once finished, click on the **Upload** button (top right) to send the fence (along with rally points and mission) to the vehicle.
|
|
1. Set the breach action in the [Geofence Failsafe](../config/safety.md#geofence-failsafe).
|
|
|
|
::: info
|
|
Any geofence that does not include the Home position will be rejected by the flight controller and not uploaded.
|
|
If the vehicle is flying, also any geofence that would immediately get breached after the upload is rejected.
|
|
:::
|
|
|
|
::: info
|
|
PX4 implements the MAVLink [Mission microservice](https://mavlink.io/en/services/mission.html), which includes support for GeoFences.
|
|
:::
|