Geofencing
Configure up to 4 circular geofences. The receiver reports per-fence and combined Inside/Outside/Unknown state in every navigation update.
NoteHAT Compatibility — Geofencing is available on the L1 GNSS HAT and L1/L5 RTK HAT. It is not supported on the TIME HAT.
| Field | C++ Type | Description |
|---|---|---|
geofences | vector<Geofence> | 1–4 geofence zones |
confidenceLevel | uint8_t | Confidence level 0–5 (sigma). Higher = more certain before reporting Inside/Outside |
pioPinPolarity | optional<EPioPinPolarity> | Optional PIO pin output polarity. Omit to disable hardware output |
| Field | Type | Description |
|---|---|---|
lat | float | Center latitude in degrees |
lon | float | Center longitude in degrees |
radius | float | Radius in meters |
| Value | C++ | C | Python | Description |
|---|---|---|---|---|
| Low = Inside | LowMeansInside | JP_GNSS_PIO_PIN_POLARITY_LOW_MEANS_INSIDE | LOW_MEANS_INSIDE | Pin goes LOW when inside any geofence |
| Low = Outside | LowMeansOutside | JP_GNSS_PIO_PIN_POLARITY_LOW_MEANS_OUTSIDE | LOW_MEANS_OUTSIDE | Pin goes LOW when outside all geofences |
The PIO pin (pin 6 on the u-blox module) drives an LED and relay on the HAT for hardware geofence signaling.
config.geofencing = GnssConfig::Geofencing {
.geofences = {
Geofence { .lat = 52.2297f, .lon = 21.0122f, .radius = 100.0f },
Geofence { .lat = 52.2400f, .lon = 21.0200f, .radius = 50.0f }
},
.confidenceLevel = 3,
.pioPinPolarity = EPioPinPolarity::LowMeansInside
};
jp_gnss_geofence_t fence1 = { .lat = 52.2297f, .lon = 21.0122f, .radius = 100.0f };
jp_gnss_geofence_t fence2 = { .lat = 52.2400f, .lon = 21.0200f, .radius = 50.0f };
jp_gnss_gnss_config_add_geofence(&config, fence1);
jp_gnss_gnss_config_add_geofence(&config, fence2);
config.geofencing_cfg.confidence_level = 3;
config.geofencing_cfg.pio_enabled = true;
config.geofencing_cfg.pin_polarity = JP_GNSS_PIO_PIN_POLARITY_LOW_MEANS_INSIDE;
config['geofencing'] = {
'confidence_level': 3,
'pin_polarity': gnsshat.PioPinPolarity.LOW_MEANS_INSIDE,
'geofences': [
{ 'lat': 52.2297, 'lon': 21.0122, 'radius': 100.0 },
{ 'lat': 52.2400, 'lon': 21.0200, 'radius': 50.0 }
]
}
Geofencing status is reported in every Navigation update via navigation.geofencing:
| Field | Description |
|---|---|
geofencingStatus | Active or NotAvailable |
combinedState | Combined state across all fences: Inside, Outside, or Unknown |
geofencesStatus[i] | Per-fence state (up to 4) |
See Geofencing Feature for runtime usage details.