# Geofences {% hint style="info" %} A **geofence** is a virtual boundary set around a specific geographic area. It restricts where the UAV can fly, often for safety, regulatory compliance, or privacy reasons. If a UAV approaches this boundary, it can trigger automated actions, like alerting the operator, pausing, or returning to a safe area. Geofencing helps prevent UAVs entering restricted zones, such as airports, military areas, or other sensitive locations. {% endhint %} ## Setting a Geofence in the Safety Tab {% hint style="success" %} One or more **geofences** can be placed in the **Plan View** and uploaded to the vehicle. This is possible with or without a takeoff, waypoint, or landing item being present. This is beneficial when operating the vehicle with the Quick Takeoff functionality while requiring complex geofencing. A faster and simpler way to create a geofence is to use the **Geofence** **Failsafe Trigger** option in the **Safety** tab, as explained in the following section. {% endhint %} 1. Navigate to the Geofence option in the Safety tab: **AMC Menu -> Vehicle Overview -> Safety -> Geofence Failsafe Trigger.**
2. When **AMC** is running in **Normal Mode**, the **Action on breach** tab provides the following four options to choose from. Set the action required for the planned operation.
NoneNo action
WarningA warning message will be displayed/announced.
Hold modeThe vehicle will enter Hold mode and orbit at the location and altitude where the failsafe action was triggered.
Return modeThe vehicle will enter Return mode and fly directly to the designated landing location at the set return altitude, then land.
3. When enabling **Max Radius**, a geofence will be placed with the DeltaQuad Evo at its **center**. Set the values for **Max Radius** and **Max Altitude (HGT)** in the respective fields.
Max RadiusThe horizontal radius of the geofence cylinder around the Home Position. Alternatively, a circle can be drawn and freely positioned in the Plan View. The horizontal geofence is disabled if set to 0.
Max AltitudeHeight of geofence cylinder. Altitude geofence disabled if 0.
{% hint style="warning" %} The **Max Altitude** is referenced to the takeoff location **(HGT)**, **not** above ground level **(AGL)**. Special care must be taken when operating in an area with varying ground elevations. For more information, please read the chapter [**Geofence Failsafe Trigger**](/tac/setup/safety-features/geofence-failsafe-trigger.md). {% endhint %} *** ## Setting a Geofence in the Plan View #### Polygon Fences 1. Go to the **Plan View** and navigate to the **Extra** tab in the **Mission Editor** on the right side of the screen: **AMC Menu → Plan View → Extra**.
2. In the **Extra** tab, two geofence options are available: **Polygon Fences** and **Circular Fences**. Add a geofence by clicking the **plus** sign next to the desired geofence shape. A geofence will be positioned at the center of the map.
3. The **Polygon Fence** can be repositioned by dragging the geofence while holding the inner vertex (green point). Clicking on the outer (white) vertices gives the option to remove a vertex or enter the geocoordinates for that specific point. The outer vertices can also be dragged in any direction to shape the polygon into the desired form.
4. Clicking any of the **plus** signs on the geofence adds another vertex.
5. Hold and drag any of the vertices to shape the polygon.
6. Hold and drag the inner green vertex to reposition the fence in any direction.
7. The geofence can be set to be **inclusive** or **exclusive**. By default, the **Type** is set to **Inclusion**. Change the Type by selecting **Exclusion** in the respective tab. {% hint style="info" %} * **Inclusionary geofence**: A geofence where the vehicle stays within the defined area; an action is triggered before breaching and leaving the area. * **Exclusionary geofence**: A geofence that defines an area the vehicle shall not enter; an action is triggered before breaching and entering the area. {% endhint %}
8. If a **height limit** for the geofence is required, this can be set in the [**Geofence Failsafe Trigger**](/tac/setup/safety-features/geofence-failsafe-trigger.md) tab in the **Safety** settings. Enable **Max Altitude (HGT)** and set the desired value. The **Action on breach** will be triggered when the vehicle crosses the set altitude.
{% hint style="warning" %} The **Max Altitude** is referenced to the takeoff location **(HGT)**, **not** above ground level **(AGL)**. Special care must be taken when operating in an area with varying ground elevations. {% endhint %} 9. When the **Extra** tab (Geofences) is selected, two **Plan Tools** on the left side of the screen are available. The full functionality of these tools can be reviewed in the chapter [**Plan View**](/tac/flight/auterion-mission-control-amc-overview/amc-menu/plan-view.md#plan-tools). The **File** option allows you to save the geofence(s), and the **Center** option provides multiple ways to center the view.
*** #### Circular Fences 1. When adding a Circular Fence, it will be placed at the center of the map.
2. The **radius** can be adjusted by holding and dragging the outer vertex left or right. Alternatively, a value for the radius can be set in the **Radius** tab in the **Mission Editor** on the right side of the screen.
3. The Circular Fence can be repositioned by holding and dragging the inner vertex in any direction.
4. As with the Polygon Fence, the **Circular Fence Type** can be set to either **inclusive** or **exclusive**.
5. If a **height limit** for the geofence is required, this can be set in the [**Geofence Failsafe Trigger**](/tac/setup/safety-features/geofence-failsafe-trigger.md) tab in the **Safety** settings. Enable **Max Altitude (HGT)** and set the desired value. The **Action on breach** will be triggered when the vehicle crosses the set altitude.
{% hint style="warning" %} The **Max Altitude** is referenced to the takeoff location **(HGT)**, **not** above ground level **(AGL)**. Special care must be taken when operating in an area with varying ground elevations. {% endhint %} 6. When the Extra tab (Geofences) is selected, two **Plan Tools** on the left side of the screen are available. The full functionality of these tools can be reviewed in the chapter [**Plan View**](/tac/flight/auterion-mission-control-amc-overview/amc-menu/plan-view.md#plan-tools). The **File** option allows you to save the geofence(s), and the **Center** option provides multiple ways to center the view.
*** ## Inclusive and Exclusive Geofences {% hint style="warning" %} When an **inclusive geofence** is planned with the DeltaQuad Evo outside the geofence, the following two scenarios can occur: * The vehicle will not be able to arm while on the ground, as it is outside the geofence. ![](/files/OMmMwzUH7zRq8ZtN5Y0h) * The vehicle will trigger the **Action on breach** when airborne, as it is outside the geofence. ![](/files/agvoWXOAJaI8mSDyz8U0) When a **exclusive geofence** is planned with the DeltaQuad Evo inside the geofence, the following two scenarios can occur: * The vehicle will not be able to arm while on the ground, as it is inside the geofence. ![](/files/019TlalXWNzRfiuRAdID) * The vehicle will trigger the **Action on breach** when airborne, as it is inside the geofence. ![](/files/CyY277K3xxfLakT3ZfhY) {% endhint %} *** ## **Exceptions** {% hint style="danger" %} 1. As stated in this [**manual**](/tac/setup/safety-features/return-to-home-settings.md), when an RTL command is triggered, the vehicle will return in a straight line to its designated landing point. If an **exclusionary geofence** or the boundary of a complex **inclusionary geofence** lies between the vehicle and the landing point, the vehicle will **ignore** the geofence and pass through it during its return. {% endhint %}

Image taken from the DeltaQuad Evo simulator. Content may differ from current software version.

Image taken from the DeltaQuad Evo simulator. Content may differ from current software version.

{% hint style="danger" %} 2\. In **Altitude** and **Position Mode**, the vehicle will **breach** both inclusionary and exclusionary **geofences** for a small distance until the RTL command is triggered. The system has a delay in responding to a geofence in these modes because the system needs to verify for a longer period that it has breached the geofence. {% endhint %}
{% hint style="danger" %} 3\. **Rally Point and Breach Return Point are not supported by the DeltaQuad Evo.** (When **AMC** is running in **Advanced** mode, **Rally Points** are available in the **Plan Tools** on the left side of the screen, and the option to set a **Breach Return Point** is available in the Mission Editor on the right side of the screen. These options are not supported on the DeltaQuad Evo.) {% endhint %}
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