The fence stands back for 10 s after a mode change
What ArduPilot says:
- Manual recovery started
The flight mode changed while a fence was recorded as breached. ArduPilot takes that as the pilot taking over and for 10 s does not act on the fence again, so that it does not fight the pilot. The line follows every mode change during a breach (on a copter only when FENCE_ACTION is not 0), including the fence's own switch to RTL, Land or Guided, so by itself it does not mean that anyone touched a switch. After the 10 s the fence acts only on a new breach: a fence crossed again, or the second line that is put beyond a breached one.
Setting FENCE_ENABLE to 0 in the air does not forget a Max Alt or Circle breach: the line then keeps coming with every mode change, until the fence is on again with the aircraft inside it or the board is rebooted. Switching the fence off with the fence switch or a ground station command does forget the breach. 4.7 sends the line only when armed; 4.6 also on the ground.
Parameters to look at
| Parameter | What it is |
|---|---|
FENCE_ACTION | Fence Action |
FENCE_ENABLE | Fence enable/disable |
FENCE_OPTIONS | Fence options |
Where to do it:Failsafe Explainer
The code that sends it
Manual recovery started
libraries/AC_Fence/AC_Fence.cpp AC_Fence::manual_recovery_start() · Open in ArduPilot Copter-4.7.1