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The Fence can be set-up by doing the following:
1. Connect your flight controller CrossFlight to the Mission Planner.
2. Go to the Config/Tuning -- GeoFence screen.
3. Click the Enable button.
4. Leave the “Type” as “Altitude and Circle” (unless you want only an Altitude limit or only a Circular fence in
which case you can select “Altitude” or “Circle”).
5. Leave the Action as “RTL or Land”.
6. Set “Max Alt” to the altitude limit you want (in meters).
7. Set “Max Radius” to the maximum distance from home you want (in meters). This should normally be at
least 50m.
Enabling the fence with channel 7 or 8.
It is not necessary to set-up a switch to enable or disable the fence but if you wish to control the fence with a
switch please follow these steps:
1. Go to the Mission Planner’s Config/Tuning > Extended Tuning screen and set either “Ch7 Opt” OR “Ch8
Opt” to Fence.
2. Holding the switch high (i.e. PWM > 1800) will enable the fence, low (under 1800) will disable the fence.
Warning
1. The minimum recommended fence radius is 30m.
2. The fence requires the GPS to be functioning well so do not disable the GPS arming check nor the EKF
failsafe while the fence is enabled. Conversely if you disable either of these checks, disable the Fence.
3. For the best results, ensure RTL is working on your vehicle.
4. With the Fence enabled, the pre-arm checks will require you have GPS lock before arming the vehicle.
5. If GPS failsafe is not enabled and the Fence is enabled and you lose GPS lock while flying the fence will be
disabled.
6. If GPS failsafe is enabled and the Fence is enabled and you lose GPS lock while flying the vehicle will
switch to LAND because we no longer know the vehicle position and we want to ensure the copter never
travels far outside the fence. This behavior will occur regardless of the flight mode. If a LAND sequence is not
desired, the pilot can retake control by moving the flight mode switch.
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