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FENCE parameters — flight-zone limits

FENCE_TYPE and FENCE_ALT_MAX in ArduPilot for safety and indoor tests.

stablea_kuteynikov321updated 2026-05-11T00:00:00.000ZClaudeDroneAleksNotesArduPilotFenceParam

ArduPilot has a built-in altitude limit. The parameter is called FENCE_ALT_MAX.

(doesn’t work for me yet — TODO)

FENCE modes

Value	What
`FENCE_TYPE = 1`	circle only (radius)
`FENCE_TYPE = 2`	altitude only
`FENCE_TYPE = 3`	circle + altitude

Parameters can be loaded via the indoor.parm file:

sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console \
  --add-param-file=/home/aleks/git/proj/claudedrone/simulation/config/ardupilot/indoor.parm