James

@Hwurzburg - I've submitted a PR to attempt to address the spiralling loiter behaviour you mention in point 1.

The current implementation is the vehicle must be inside _all_ inclusion fences: https://ardupilot.org/copter/docs/common-polygon_fence.html That results in a case like this, where the highlighted area is the only area you can...

> There's a discontinuity in that logic when you have no inclusion fences. Perhaps if I worded it better: `If Inclusion Fences are present, we must be inside at least...

ArduPilot Inclusion and Exclusion Fences Wiki: https://ardupilot.org/copter/docs/common-polygon_fence.html > You can define many inclusion and exclusion fences. However, multiple inclusions fences, including the cylindrical fences must overlap, since the vehicle can...

After re-reading randy's comment... @IamPete1 seems like your simplest solution is to change the logic in how the breach check is performed. I believe `AC_PolyFence_loader::breached` is where you would look...

> The intent there was to handle the fences coming from multiple sources, each of which is limiting where you might fly. For example, the user specifying some on a...

> I do like this. Excellent, then i'll move this from draft to PR.

@peterbarker @tridge I suspect a similar issue of short circuiting a waypoint can occur with `LOITER_TO_ALT`, given it is not checking for reaching of the loiter target either.

> @peterbarker @tridge I suspect a similar issue of short circuiting a waypoint can occur with `LOITER_TO_ALT`, given it is not checking for reaching of the loiter target either. Although,...

No worries, what's your thoughts on it being an actual issue?