# Geofence Failsafe Trigger

<figure><img src="https://2001386943-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FWRJBD0tISFQunPjBDz6c%2Fuploads%2F5BNsFcqGvuJicPCpFhrY%2FGeofence%20Failsafe%20Trigger.webp?alt=media&#x26;token=64535ba8-a232-45f7-81cf-9747061e0274" alt=""><figcaption></figcaption></figure>

The **Geofence Failsafe Trigger** can be set to limit the vehicle's radius and/or altitude. When these parameters are breached, the vehicle will perform the defined action.

**Default Action on breach:** Hold mode

**Default Max Radius:** Disabled&#x20;

**Default Max Altitude (HGT):** Disabled

Failsafe detection can trigger one of the following actions.

<table><thead><tr><th width="170"></th><th></th></tr></thead><tbody><tr><td><strong>None</strong></td><td>No action</td></tr><tr><td><strong>Warning</strong></td><td>A warning message will be displayed/announced.</td></tr><tr><td><strong>Hold mode</strong></td><td>The vehicle will enter Hold mode and orbit at the location and altitude where the failsafe action was triggered.</td></tr><tr><td><strong>Return mode</strong></td><td>The vehicle will enter Return mode and fly directly to the designated landing location at the set return altitude, then land.</td></tr><tr><td><strong>Terminate*</strong></td><td>Turns off all controllers and sets all PWM outputs to their failsafe values. The failsafe outputs can be used to deploy a parachute, landing gear, or perform another operation.</td></tr><tr><td><strong>Land mode*</strong></td><td>The vehicle will enter Land mode and land immediately.</td></tr><tr><td><strong>Max Radius</strong></td><td>The horizontal radius of the geofence cylinder around the <strong>Home Position</strong>. Alternatively, a circle can be drawn and freely positioned in the <strong>Plan View</strong>. The horizontal geofence is disabled if set to 0.</td></tr><tr><td><strong>Max Altitude</strong></td><td>Height of geofence cylinder. Altitude geofence disabled if 0.</td></tr></tbody></table>

(**\***&#x6F;nly available in AMC's Advanced Mode)

{% 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 %}