INAV geozones on the map

The type control has two names. No-fly zone is the exclusive type, INAV's own name for a volume the craft should not enter. Allowed area is the inclusive type, a volume the craft should stay inside. The map draws a no-fly zone in red and an allowed area in green, and each zone is numbered.

A new circle is an allowed area. That is the shape INAV creates: inclusive, a radius of 200 m, and an altitude band from 0 to 100 m. Change the type to no-fly if the circle is a place to stay out of, such as a field you do not want to cross. An allowed area with no border action still describes a fence. The action is what the craft does when it meets that fence.

You can mix the two types. A common plan is one large allowed area around the field and a smaller no-fly circle over a road or a building. Each zone has its own altitude band, so a no-fly circle can block only the low altitudes and leave a path over the top if the top is set and the action is allowed to climb.

A circle stores its centre as the only point you edit, and it takes two of the flight controller's vertex slots. The radius is in metres, from 1 to 1000000, in steps of 10. The default is 200 m. Drag the centre on the map, or edit the radius in the zone card. A radius of zero is refused.

A polygon is a list of corners. INAV wants them counter-clockwise. FlySpark starts a new polygon as a square about 550 m across, already in that order. You need at least three corners. The remove button stays off while the polygon has only three. If you drag a corner and the order is no longer counter-clockwise, the card offers Fix corner order.

The flight controller holds 63 zones and 126 vertices in total. A plan of many circles runs out of vertices before it runs out of zone slots, because each circle costs two. If an add is refused, the snackbar names the problem. Delete a zone you do not need, or turn a circle into a tighter plan, before you add another.

Bottom and top are metres. Bottom runs from -1000 to 100000, in steps of 5. Top runs from 0 to 100000, in the same step. A top of 0 means there is no upper limit. The top must sit above the bottom. If it does not, the zone is marked invalid and the card says the top is not above the bottom.

Altitudes above sea level switches the band from the arming point to mean sea level. Off, the numbers are heights above the place you armed. On, they are AMSL, and the map label says so. A band that was right as height above the field becomes a different band when you flip the switch, because the field itself is already some height above the sea. Set the switch first, then the numbers.

The map label shows the band next to the zone, for example the bottom, the top or the words no limit, and AMSL when that reference is on. Use it to check that a no-fly zone actually covers the height you fly, not only the ground.

At the border has four actions, and each one has a hint on the card. None only warns on the OSD. The craft can still fly through the zone. Avoid flies around the zone or over it. Position hold stops and holds position at the border. RTH means return home.

Return home on this card is INAV's return to home. It is not Betaflight GPS Rescue. The return altitudes and the climb live on the INAV navigation screens, not on the geozone card. Choosing RTH here only says that meeting the border starts that return. It does not set the return height.

Pick the action for the place, not from a habit. A no-fly zone over a road is a poor match for None, because a warning does not turn the craft. An allowed-area fence at a small field is a poor match for a hard position hold if you still need to land outside the line. Avoid is the action that tries to go around or over. It still needs a band that leaves a way out.

Load reads the zones stored on the flight controller and replaces the zones on this device. If you have unsaved edits, FlySpark asks before it replaces them. A board with nothing stored reports that no geozones are saved. Save writes the zones and reboots. The confirm text says the flight controller stores the zones and restarts, because INAV only applies geozones at boot.

Enforce geozones is the Geozones feature switch. It is applied when you save, and it appears when the connected build reports the feature. Turning the switch off and saving is how you keep the zones stored but stop the craft enforcing them. A build without the feature shows a notice instead of the switch. You can still plan.

Undo puts back the last edit on this device. It does not read the board again. After a save and reboot, load is the way to confirm the board has the plan you drew. The mission planner is a different map. A mission is a route. A geozone is a volume the craft must respect.

Geozones need INAV 8 or newer. Older firmware gets a notice that you can plan now and save after you update. A build made without geozones, which is common on boards with little flash, gets a different notice. Planning still works. Saving to that board cannot turn the feature on.

Chrome or Edge on a computer connects over USB or Bluetooth. The Android app adds a Wi-Fi MSP bridge. iPhone uses Bluetooth or Wi-Fi and has no USB host, so it never sees the flight controller over a USB cable. A browser page cannot join the craft's own Wi-Fi.

Before you trust a fence, read it back. Draw the zone, set the type, the band and the action, save, let the board reboot, and load. The map should show the same circle or the same corners. Then fly a test where crossing the line is harmless. The servos page and the compass page are separate setup. A geozone does not replace either of them.