Mode changes are locked while the copter recovers from a fence breach
Stops itFlight modesCopter only
What ArduPilot says:
- in fence recovery
The copter crossed a fence, the fence put it into its recovery mode (RTL, Land, Brake or SmartRTL), and FENCE_OPTIONS bit 0 forbids leaving that mode until the copter is back inside the fence or has landed. The mode you asked for is refused.
What to do, most likely first
It is what
FENCE_OPTIONSbit 0 asks for: the pilot may not override the fence.FixLet the recovery finish. Decide before the flight whether the pilot should be able to take over during a breach: with bit 0 clear, a mode change gives 10 s before the fence acts again.
Parameters to look at
| Parameter | What it is |
|---|---|
FENCE_OPTIONS | Fence options |
FENCE_ACTION | Fence Action |
FENCE_ENABLE | Fence enable/disable |
Where to do it:Failsafe Explainer
The code that sends it
in fence recovery
ArduCopter/mode.cpp Copter::set_mode() · Open in ArduPilot Copter-4.7.1