UAV Configuration——Geofence 地理围栏_default.isinsidegeofence-CSDN博客

Geofence

参考：http://ardupilot.github.io/MAVProxy/html/uav_configuration/geofence.html

The geofence represents a hard limit to where the UAV will not fly beyond. It is useful for preventing runaway UAVs (barring other software/hardware issues). If it breaches the fence the failsafe will be activated, returning it to the home point.

It is represented as an arbitrary polygon of waypoints around the flying area in the fixed-wing APM. In Arducopter, it is a radius and altitude parameter(s) representing a cylinder around the flying area.

A fence menu is available on the GUI console.

地理围栏代表了无人机无法飞越的硬性限制。它有助于防止失控的无人机（除了其他软件/硬件问题）。如果它破坏了围栏，故障保护将被激活，将其返回到归属点。

它表示为固定翼APM中飞行区域周围的航路点的任意多边形。在Arducopter中，它是表示飞行区域周围的圆柱的半径和高度参数。

GUI控制台上提供了fence菜单。

fence list

View the currently loaded geofence on the APM.

参看APM当前已加载的地理围栏。

fence load

Load a new set of geofence coordinates from file.

从文件加载一组新的地理围栏坐标。

fence load filename.txt

fence save

Save the set of current geofence coordinates to file.

将当前地理围栏坐标集保存到文件。

fence save filename.txt

fence draw

Draw the geofence on the map (if loaded).

在地图上绘制地理围栏（如果已加载）。

fence enable

Enable the geofence failsafe.

启用地理围栏故障保护。

fence disable

Disable the geofence failsafe.

关闭地理围栏故障保护。

fence clear

Deletes all geofence coordinates.

删除所有地理围栏坐标。

fence move

Move a specific fence coordinate to a new location. When entered, a new location can be selected on the map window. This requires the map module to be loaded.

将特定栅栏坐标移动到新位置。输入后，可以在地图窗口中选择新位置。这需要加载地图模块。