diff --git a/msg/geofence_result.msg b/msg/geofence_result.msg
index 86639d2e7c..4121f6f502 100644
--- a/msg/geofence_result.msg
+++ b/msg/geofence_result.msg
@@ -6,6 +6,7 @@ uint8 GF_ACTION_RTL = 3                 # switch to AUTO|RTL
 uint8 GF_ACTION_TERMINATE = 4           # flight termination
 uint8 GF_ACTION_LAND = 5                # switch to AUTO|LAND
 
+uint8 geofence_violation_reason         # one of geofence_violation_reason_t::*
 
 bool primary_geofence_breached          # true if the primary geofence is breached
 uint8 primary_geofence_action           # action to take when the primary geofence is breached
diff --git a/src/lib/events/enums.json b/src/lib/events/enums.json
index 9a1c060f8e..4c23d304bd 100644
--- a/src/lib/events/enums.json
+++ b/src/lib/events/enums.json
@@ -623,6 +623,24 @@
                             "description": "Reduce throttle!"
                         }
                     }
+                },
+                "geofence_violation_reason_t": {
+                    "type": "uint8_t",
+                    "description": "Reason for geofence violation",
+                    "entries": {
+                        "0": {
+                            "name": "dist_to_home_exceeded",
+                            "description": "maximum distance to home exceeded"
+                        },
+                        "1": {
+                            "name": "max_altitude_exceeded",
+                            "description": "maximum altitude exceeded"
+                        },
+                        "2": {
+                            "name": "fence_violation",
+                            "description": "approaching or outside geofence"
+                        }
+                    }
                 }
             },
             "navigation_mode_groups": {
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/geofenceCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/geofenceCheck.cpp
index 570df97233..ecb3324ab8 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/geofenceCheck.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/geofenceCheck.cpp
@@ -50,11 +50,13 @@ void GeofenceChecks::checkAndReport(const Context &context, Report &reporter)
 		 * This check can be configured via <param>GF_ACTION</param> parameter.
 		 * </profile>
 		 */
-		reporter.armingCheckFailure(NavModes::All, health_component_t::system, events::ID("check_gf_violation"),
-					    events::Log::Error, "Vehicle outside geofence");
+		reporter.armingCheckFailure<events::px4::enums::geofence_violation_reason_t>(NavModes::All, health_component_t::system,
+				events::ID("check_gf_violation"),
+				events::Log::Error, "Geofence violation: {1}",
+				(events::px4::enums::geofence_violation_reason_t)geofence_result.geofence_violation_reason);
 
 		if (reporter.mavlink_log_pub()) {
-			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Vehicle outside geofence");
+			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Geofence violation");
 		}
 	}
 
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 070fd90dd9..37bdb83ac6 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -870,6 +870,19 @@ void Navigator::geofence_breach_check(bool &have_geofence_position_data)
 			/* inform other apps via the mission result */
 			_geofence_result.primary_geofence_breached = true;
 
+			using geofence_violation_reason_t = events::px4::enums::geofence_violation_reason_t;
+
+			if (gf_violation_type.flags.fence_violation) {
+				_geofence_result.geofence_violation_reason = (uint8_t)geofence_violation_reason_t::fence_violation;
+
+			} else if (gf_violation_type.flags.max_altitude_exceeded) {
+				_geofence_result.geofence_violation_reason = (uint8_t)geofence_violation_reason_t::max_altitude_exceeded;
+
+			} else if (gf_violation_type.flags.dist_to_home_exceeded) {
+				_geofence_result.geofence_violation_reason = (uint8_t)geofence_violation_reason_t::dist_to_home_exceeded;
+
+			}
+
 			/* Issue a warning about the geofence violation once and only if we are armed */
 			if (!_geofence_violation_warning_sent && _vstatus.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {