Updated the Geofence Example

Author: GriffinMack

examples/geofence.py

@@ -1,29 +1,48 @@
 #!/usr/bin/env python3
 
 import asyncio
-from mavsdk import Point, Polygon, System
+from mavsdk import System
+from mavsdk.geofence import Point, Polygon
 
+"""
+This example shows how to use the geofence plugin.
+
+Note: The behavior when your vehicle hits the geofence is NOT configured in this example. 
+
+"""
 
 async def run():
 
+    # Connect to the Simulation
     drone = System()
     await drone.connect(system_address="udp://:14540")
 
+    # Wait for the drone to connect
     print("Waiting for drone...")
     async for state in drone.core.connection_state():
         if state.is_connected:
             print(f"Drone discovered with UUID: {state.uuid}")
             break
 
-    lat = 47.3977508
-    lon = 8.5456074
-    p1 = Point(lat - 0.0001, lon - 0.0001)
-    p2 = Point(lat + 0.0001, lon - 0.0001)
-    p3 = Point(lat + 0.0001, lon + 0.0001)
-    p4 = Point(lat - 0.0001, lon + 0.0001)
+    # Fetch the home location coordinates, in order to set a boundary around the home location
+    print("Fetching home location coordinates...")
+    async for terrain_info in drone.telemetry.home():
+        latitude = terrain_info.latitude_deg
+        longitude = terrain_info.longitude_deg
+        break
+
+    await asyncio.sleep(1)
+
+    # Define your geofence boundary
+    p1 = Point(latitude - 0.0001, longitude - 0.0001)
+    p2 = Point(latitude + 0.0001, longitude - 0.0001)
+    p3 = Point(latitude + 0.0001, longitude + 0.0001)
+    p4 = Point(latitude - 0.0001, longitude + 0.0001)
 
-    polygon = Polygon([p1, p2, p3, p4], Polygon.Type.INCLUSION)
+    # Create a polygon object using your points
+    polygon = Polygon([p1, p2, p3, p4], Polygon.FenceType.INCLUSION)
 
+    # Upload the geofence to your vehicle
     print("Uploading geofence...")
     await drone.geofence.upload_geofence([polygon])