Here you will find instructions on how to use the GeoFence feature and information relevant to it.

Setting up a Geofence

Power the drone and open WISPR Ground Control.
Tap the WISPR logo in the top left, and select Mission Planning from the menu that appears.
Next select the Fence option to the right of the Mission button in the top right corner.
- Here you can pick between a circular or polygon fence. It is generally recommended to stick with polygonal fences for polygonal missions, and circular fences for circular missions such as structure scans, but is not required.
- By default, fences are inclusive (breached by leaving the zone). Uncheck “Inclusion” to make it exclusive (breached by entering the zone).
- Multiple fences can be used at the same time. The DEL button can be used to remove fences as needed.
Once a fence type is selected, a default-sized area will appear. Adjust the size and position freely.
- For polygonal fences, use the +'s on the edges to add additional vertices for custom shapes.
After setting the area, add your takeoff item, survey, RTL point, and configure as needed within the perimeter.
Upload the mission. You’ve successfully set up a GeoFence. Now when the drone crosses the set boundary it will slow to a stop, ascend to the set RTL height if it is not already at or above said altitude, return to the launch point, and land.

The drone will take the shortest path to the RTL point, even if it means leaving the fence. It will cross the boundary, report a breach, but continue to RTL as per protocol.

RTL Path Leaves GeoFence

You can see above where the line from waypoint 33 back to launch leaves the fence perimeter. Plan carefully to ensure the drone can navigate home inside the fence if a breach occurs or the mission finishes. Alternatively, manually reposition the drone so it can return home in a straight line without leaving the fence.
You will receive a Pre-Arm that prevents takeoff if the drone is outside of the fence prior to launch.
The drone may breach the fence multiple times in one flight. In auto mode, it will follow the shortest path to the next waypoint, even if this means leaving the zone. The drone will not treat subsequent breaches as emergencies until it has re-entered the allowed zone and then breaches again. The inverse is true for exclusive fences.
If multiple fences are nested, a breach occurs only when exiting the innermost fence and will not trigger another breach until the drone re-enters the innermost fence. The inverse is true for exclusive fences.
The drone seems to vary a bit in how quickly it begins flying home after triggering a breach, but will begin slowing to a stop immediately. Generally takes no more than 3-4 seconds.
The fence has an altitude limit of 1000m.