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AC 3.0.1 (and higher) includes a simple “tin can” shaped fence centered on home that will attempt
to stop your copter from flying too far away by stopping at the fence (if in Loiter mode and using
Copter-3.4 or higher) or initiating an RTL. The maximum circular distance and altitude and the vehicle
behavior when the fence is reached can be configured using Mission Planner.
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.
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