PX4飞控参数详解-Geofence电子围栏保护设置

Geofence​电子围栏
名称	参数描述	[Min, Max] (Incr.)	默认值	单位
GF_ACTION (INT32)	Geofence violation action//电子围栏越界处理措施	[0, 5]	2
	Comment: Note: Setting this value to 4 enables flight termination, which will kill the vehicle on violation of the fence.
	Values:
	0: None  //无反应
	1: Warning //警告
	2: Hold mode  //保持悬停状态
	3: Return mode  //返航
	4: Terminate // 停止
	5: Land mode  //着陆
GF_MAX_HOR_DIST (FLOAT)	Max horizontal distance from Home//离起始点（家）的最大水平距离	[0, 10000] (1)	0	m
	Comment: Maximum horizontal distance in meters the vehicle can be from Home before triggering a geofence action. Disabled if 0.
GF_MAX_VER_DIST (FLOAT)	Max vertical distance from Home//离起始点（家）的最大垂直距离	[0, 10000] (1)	0	m
	Comment: Maximum vertical distance in meters the vehicle can be from Home before triggering a geofence action. Disabled if 0.
GF_PREDICT (INT32)	[EXPERIMENTAL] Use Pre-emptive geofence triggering//使用预触发电子围栏		Disabled (0)
	Comment: WARNING: This experimental feature may cause flyaways. Use at your own risk. Predict the motion of the vehicle and trigger the breach if it is determined that the current trajectory would result in a breach happening before the vehicle can make evasive maneuvers. The vehicle is then re-routed to a safe hold position (stop for multirotor, loiter for fixed wing).
GF_SOURCE (INT32)	Geofence source//电子围栏	[0, 1]	0
	Comment: Select which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS
	Values:
	0: GPOS
	1: GPS