px4-firmware/msg/GeofenceResult.msg

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uint64 timestamp # time since system start (microseconds)
uint8 GF_ACTION_NONE = 0 # no action on geofence violation
uint8 GF_ACTION_WARN = 1 # critical mavlink message
uint8 GF_ACTION_LOITER = 2 # switch to AUTO|LOITER
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
bool home_required # true if the geofence requires a valid home position