Merge pull request #673 from MuhammadBilal1/patch-2

Geofence mechanism is updated according to V2.1.0.

Author: julianoes

examples/geofence.py

@@ -2,14 +2,18 @@
 
 import asyncio
 from mavsdk import System
-from mavsdk.geofence import Point, Polygon
+from mavsdk.geofence import Point, Polygon, FenceType, GeofenceData, Circle
 
 """
 This example shows how to use the geofence plugin.
 
 Note: The behavior when your vehicle hits the geofence is NOT configured
 in this example.
 
+FenceType:
+    INCLUSION: The vehicle will not go outside the fence area.
+    EXCLUSION: The vehicle will not come inside the fence area.
+
 """
 
 
@@ -43,11 +47,19 @@ async def run():
     p4 = Point(latitude - 0.0001, longitude + 0.0001)
 
     # Create a polygon object using your points
-    polygon = Polygon([p1, p2, p3, p4], Polygon.FenceType.INCLUSION)
+    polygon = Polygon([p1, p2, p3, p4], FenceType.INCLUSION)
+
+    # circle = Circle(p1, 10.0, FenceType.INCLUSION)
+
+    # Sending the circle object is necessary in the geofence data,
+    # so if you don't want to set the circular geofence, send it like this.
+    circle = Circle(Point(0, 0), 0, FenceType.INCLUSION)
+
+    geofenceData = GeofenceData([polygon], [circle])
 
     # Upload the geofence to your vehicle
     print("Uploading geofence...")
-    await drone.geofence.upload_geofence([polygon])
+    await drone.geofence.upload_geofence(geofenceData)
 
     print("Geofence uploaded!")