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If the vehicle strays outside these borders it will switch into RTL or LAND. At the moment the fence is
breached a backup fence is erected 20m further out (or up). If the copter breaches this backup fence (for
example if the vehicle is not set up correctly or the operator takes control but is unable to bring the copter
back towards home) the copter will be switched into RTL again (and another backup fence an additional 20m
further out will be created).
If the copter eventually flies 100m outside the configured fence distance, the vehicle will switch into LAND
mode. The idea being that it’s clearly impossible to get the copter home so best to just bring it down. The pilot
can still retake control of course with the flight mode switches. Like with the earlier fences, another fence is
erected 20m out which will again switch the copter to LAND if it continues away from home.
Enabling the Fence in Mission Planner
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