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Geofence
This page explains how to use the Geofencing tools of SkyControl.
Page Summary
Description
The geofencing module is a tool used to create flyable and non-flyable zones. Those zones can be either circular or polygon-shaped.
Default Geofence
A circular fence of 200 meters radius is automatically set when the first GPS fix is acquired. The default fence radius can be changed in the UAS Failsafe/Geofence Parameter Page.
Instructions
This section explains how to use geofence functionality.
Geofencing Overview
On UAS startup, the default Geofence should be visible (as illustrated in the top image). On the map, the flyable zone is surrounded by a green circle.
Geofencing edition can be activated by clicking the fence button (
) of the left side toolbar. When edition mode is activated, the flyable zone will be green-tainted as shown in the bottom image. The non-flyable zone will be red-tainted as will be shown later. Exit the edition mode by clicking the fence button again.
Geofencing Effect in Flight Modes
Manual Mode
The Geofences have no impact on the UAS when flown in Manual Mode. As in Failsafes, the Manual Mode gives you full control of the UAS when an unexpected event occurs.
Assisted Position Mode
In Assisted Mode, when the UAS reaches the Geofence border, user commands will be ignored.
Be aware that the position used to determine if the UAS is in or out the Geofence is the desired position of the UAS Controller. The real position of the UAS may exceed the Geofence when you fly in high winds or with low GPS precision. Therefore, it is recommended to be more restrictive than permissive when defining the Geofence.
Mission Mode
In Mission Mode, the Mission will stop when reaching the border of the Geofence. To be safe, the UAS Controller will pause the Mission approximately 1 meter in front of the Geofence border.
Adding Circular Geofence
With edition mode activated, click on Add Inclusion Circle to add a 50 meters radius flyable circle. The top left image shows an added circular flyable fence (in green). When exiting the geofencing edition mode, the green surrounded zone is flyable, as shown in the top left image.
Click on Add Exclusion Circle to add a 50 meters radius non-flyable circle. The bottom left image shows an added 50 meters non-flyable circular fence (in red). When exiting the geofencing edition mode, the red circle represents the non-flyable zone, as shown in the bottom right image.
To move the circle fence around, simply click and hold the center white dot of the circle and drag it around. Release the mouse button to drop the object in the new location.
To resize the circle, drag and drop the white dot placed on the contour of the fence.
Adding Polygon-Shaped Geofence
With edition mode activated, click on Add Inclusion Polygon to add a polygon-shaped flyable zone. The top left image shows an added polygon fence (in green). When exiting the edition mode, the green surrounded zone is flyable, as shown in the top right image.
Click on Exclusion Polygon to add a polygon-shaped non-flyable zone. The bottom left image shows an added polygon non-flyable fence (in red). When exiting the edition mode, the red polygon represents the non-flyable zone, as shown in the bottom right image.
To move the polygon fence around, drag and drop the vertices. This action will also resize the polygon.
Deleting Geofence
With edition mode activated, select the eraser button (
). Geofence will change colour intensity when mouse passes over as shown in the image on the right. Simply click on the highlighted geofence to delete it.
© ARA Robotique Inc - 2018