Back inside every fence
InformationFailsafes and emergencies in flight
What ArduPilot says:
- Fence breach cleared
- ERR FAILSAFE_FENCE-0 (Subsys 9, ECode 0)
The aircraft has returned inside all its fences; in the log it is “ERR FAILSAFE_FENCE-0”. Nothing else changes: it stays in the mode the fence chose (RTL, Land, Brake, Guided) until you change the flight mode.
Parameters to look at
| Parameter | What it is |
|---|---|
FENCE_ACTION | Fence Action |
FENCE_OPTIONS | Fence options |
Where to do it:Failsafe Explainer
The code that sends it
Fence breach cleared
ArduCopter/fence.cpp Copter::fence_check() · Open in ArduPilot Copter-4.6.3
ArduCopter/fence.cpp Copter::fence_checks_async() · Open in ArduPilot Copter-4.7.1
ArduPlane/fence.cpp Plane::fence_check() · Open in ArduPilot Plane-4.7.1