# GeoFence
A *GeoFence* is a virtual fence that defines an areas that a vehicle can leave (inclusions) or enter (exclusions). *Auterion Mission Control* enables the creation of complex *GeoFence* boundaries made up of multiple circular and polygonal regions.
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GeoFences can be used to prevent a vehicle flying out of range of the RC controller, or into unsafe or restricted airspace. They are respected in all modes, including missions and manual flight.
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Fences defined in a plan are different/seperate to the simple cylindrical geofence defined in the [Geofence Failsafe](https://docs.auterion.com/settings-and-maintenance/safety#geofence-failsafe).
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The action triggered when the flight controller detects an impending geofence breach is defined in the [Geofence Failsafe](https://docs.auterion.com/settings-and-maintenance/safety#geofence-failsafe) settings.
## Creating a GeoFence
Users should create an inclusion geofence around the desired mission path (the mission is displayed semi-transparent when editing fences) and exclusion fences around any areas that the vehicle must not travel.
**To create a new GeoFence:**
1. Navigate to the *Plan View*.
2. Select the **Extras** button in the **Mission editor** to display the *GeoFence Editor*.
3. Insert a *Circular GeoFence* by pressing the **Circular Fence** button.\
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A round fence will be added to the map, along with an entry in the *Circular Fences* list below the buttons.
* Move the fence by dragging the central marker on the map.
* Resize the fence by dragging the marker on the circumference (or set the radius value in the *GeoFence Editor*).
4. Insert a *Polygonal GeoFence* by pressing the **Polygon Fence** button.\
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A square region will be added to the map, along with an entry in the *Polygon Fences* list below the buttons. A *Polygon Tools* overlay is added to the map that can be used to set/reset the geofence and change the way that it is defined.
**Notes:**
* Move the fence by dragging the central marker on the map.
* Move the corners by dragging the vertices (filled circles).
* Create new vertices by clicking the "unfilled" dots on the lines between the filled vertices.
* Delete vertices by selecting them and choosing the *Remove vertix* option.
1. New regions are created as *inclusion zones* (vehicles must stay within the region). They can be changed to *exclusion zones* (where the vehicle can't travel) by *un-checking* the associated **Inclusion** checkbox in the fence panel.
2. Multiple regions can be created by pressing the **plus icon.**
3. When finished, press the **Upload** button to save the fences to the vehicle.
## Edit/Delete GeoFence
To edit a fence, select the fence you want to edit.
The fence is then highlighted on the map and can be modified as described in the previous section.
To delete a fence, select the associated **Delete** button in the *GeoFence Editor*.
## GeoFence UI Overview
### Upload Button
GeoFence definitions are saved to the vehicle using the [**Upload** ](https://docs.auterion.com/vehicle-operation/auterion-mission-control/ui-breakdown/plan-ui-overview#upload-button)button, along with any mission and rally point plans.
### GeoFence Plan Tools
The tools that are displayed when planning a *geofence* are listed below (for information about all tools see [Plan UI Overview](https://docs.auterion.com/vehicle-operation/auterion-mission-control/ui-breakdown/plan-ui-overview#plan-tools)).
| Icon | **Name** | Description |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------- |
|  | [**File/Sync**](https://docs.auterion.com/vehicle-operation/auterion-mission-control/ui-breakdown/plan-ui-overview#file-sync-tools) | File operations (create, save or load plan) and sync operations (upload/download plan from vehicle, clear plan on vehicle). |
|  | [**Center**](https://docs.auterion.com/vehicle-operation/auterion-mission-control/ui-breakdown/plan-ui-overview#map-tools) | Center map on mission, home, vehicle, all items, or specified location. |
|  | **Rally Point** | Provides alternative landing points when performing Return To Launch |
### GeoFence Editor
The **Polygon Fence** and **Circular Fence** buttons are used to add a fence of the respective type to the map. The entries in the *Polygon Fences* or *Circular Fences* panels are used to select which fence is currently being edited on the map, to delete the fence, and to set the fence as an inclusion/exclusion zone.
| Name | Description |
| ---------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------ |
| **Polygon Fence** | Add a polygon fence to the map and an entry to the *Polygon Fences* section. |
| **Circular Fence** | Add a circular fence to the map and an entry to the *Circular Fences* section. |
| **Inclusion** | Set this fence as an inclusion (vehicle must move within the fence). Uncheck if vehicle must fly outside the region enclosed by the fence. |
| **Edit** | Set this fence as current fence (for editing on map). |
| **Radius** | Set radius for this fence (circular fence only). |
| **Del** | Delete this fence. |
| **Add/Remove Breach Return Point** | Add or remove breach return point. The breach return point should be used as return destination instead of the home location. |
| **Altitude** | Breach return point altitude, if a point has been defined. |
