-- 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL,22:FlowHold,23:Follow,24:ZigZag,25:SystemID,26:Heli_Autorotate -- and arming:is_armed() local MODE_AUTO = 3 local MODE_LOITER = 5 local MODE_ALT_HOLD = 2 local MODE_RTL = 6 local MODE_LAND = 9 local counter = 0 function update() local pos = ahrs:get_location() if (vehicle:get_mode() == MODE_AUTO or vehicle:get_mode() == MODE_LOITER) then setfence(true) elseif vehicle:get_mode() == MODE_ALT_HOLD and not pos then setfence(false) elseif vehicle:get_mode() == MODE_ALT_HOLD and pos then setfence(true) end if (vehicle:get_mode() ~= MODE_AUTO and vehicle:get_mode() ~= MODE_LOITER and vehicle:get_mode() ~= MODE_ALT_HOLD and vehicle:get_mode() ~= MODE_RTL and vehicle:get_mode() ~= MODE_LAND) then if not pos then vehicle:set_mode(MODE_ALT_HOLD) gcs:send_text(0, "JoeyFence: Invalid Mode, Changing no gps") else vehicle:set_mode(MODE_LOITER) gcs:send_text(0, "JoeyFence: Invalid Mode, Changing gps") end end if (counter >= 5 * 5) then --gcs:send_text(0, "JoeyFence: Running") counter = 0 end counter = counter + 1 -- run at 5Hz return update, 200 end function setfence(enabled) if (enabled) then value = param:get('FENCE_ENABLE') if(value ~= 1) then param:set('FENCE_ENABLE',1) gcs:send_text(0, "JoeyFence: Enabled") end else value = param:get('FENCE_ENABLE') if(value ~= 0) then param:set('FENCE_ENABLE',0) gcs:send_text(0, "JoeyFence: Disabled") end end end -- start running update loop return update()