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Geofencing

Through Mission Planner, you can define airspace limitations for the operational area of the aircraft. These perimeter constraints*are stored in the Drone's memory in a similar way to flight plans.

Procedure for Defining Perimeter Limitations:​

  1. Ensure the FENCE option is selected in the dropdown menu in the upper-right corner of the Mission Canvas.
  2. Follow the steps below to generate and store these perimeter limitations in the Drone's airspace memory.
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When creating a FENCE, add at least 5 extra meters of security.This ensures an additional safety buffer for the RTL (Return to Launch) mode, allowing the Drone to respond appropriately to the command.

1. Vertex Tracing​

2. Definition of the type of Vertices​

Vertices are generated by left clicking on the canvas , and once generated, they can be dragged to re-position them on the map with the left mouse button as well. Generate as many vertices as necessary to define the constrained perimeter.

HERCULES X8 Drone

Figure 38. Definition of the type of Vertices

Each created vertex will appear listed in the lower menu with its respective numbering. By clicking on the drop-down menu of each vertex, you can select its type. For the purposes of defining airspace restrictions, two types of vertices are considered:

Vertex Types for Airspace Restrictions​

  • Fence_Polygon_Vertex_Inclusion:
    The polygon enclosed by vertices of this type defines an area that the Drone cannot access.

  • Fence_Polygon_Vertex_Inclusion:
    The polygon enclosed by vertices of this type defines an area from which the Drone cannot leave.

HERCULES X8 Drone

Figure 39. Configuration FENCE_POLYGON_VERTEX_INCLUSION

3. Save the Polygon​

Once you are satisfied with the restricted perimeter, it can be saved in the computer's memory or written in the autopilot's memory, with the help of the corresponding buttons in the Right Menu.

4. Action after Invasion of Restricted Volume​

By default the vehicle is restricted from flying more than 120m above the takeoff point. Additionally, following the previous steps, perimeter restrictions can be added from time to time, which can be inclusion (the Drone cannot leave) or exclusion (the Drone cannot enter). In any case, whenever the Drone tries to exceed these imposed limits, the following will happen:

  • Althold Mode: as soon as the Drone tries to pass a restricted area, the RTL or Return flight mode will be activated to Launch

  • Loiter Mode: the Drone will never enter a restricted area AUTO MODE: as soon as the Drone tries to pass a restricted area, it will activate the RTL or Return flight mode to Launch

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The above actions ensure the Drone’s safety and compliance with airspace restrictions. The system will always prioritize returning to launch or preventing entry into restricted zones.

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