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Controller Update 5

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2026-02-09 06:31:00 +00:00
parent d3acd8789f
commit aed71490c0
2 changed files with 16 additions and 10 deletions
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5
config/ardupilot_gps_denied.parm
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@@ -12,8 +12,9 @@ GPS_TYPE 1 # Auto-detect
# ====================
# Geofence Settings
# ====================
# Safety cage - uses GPS for boundaries
FENCE_ENABLE 1
# Disabled for now - causes "fence requires position" errors
# TODO: Re-enable after basic flight works
FENCE_ENABLE 0
FENCE_TYPE 3 # Alt + Circle
FENCE_ACTION 2 # Land on breach
FENCE_ALT_MAX 10 # Maximum altitude (meters)

21
src/autonomous_controller.py
View File

@@ -193,14 +193,19 @@ class AutonomousController:
if gps_ok and home_ok:
print("[CTRL] GPS and home ready!")
# NOW enable geofence since we have position
print("[CTRL] Enabling geofence: Alt=10m, Radius=20m")
self.set_param("FENCE_ENABLE", 1)
self.set_param("FENCE_TYPE", 3)
self.set_param("FENCE_ACTION", 2)
self.set_param("FENCE_ALT_MAX", 10)
self.set_param("FENCE_RADIUS", 20)
time.sleep(1)
# Wait for EKF position estimate to be valid
print("[CTRL] Waiting for EKF position estimate...")
time.sleep(5)
# Skip fence for now - causes "need position estimate" errors
# TODO: Re-enable fence after basic flight works
# print("[CTRL] Enabling geofence: Alt=10m, Radius=20m")
# self.set_param("FENCE_ENABLE", 1)
# self.set_param("FENCE_TYPE", 3)
# self.set_param("FENCE_ACTION", 2)
# self.set_param("FENCE_ALT_MAX", 10)
# self.set_param("FENCE_RADIUS", 20)
return True
elapsed = int(time.time() - start)