diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index d8345f1918..d2ab354bfa 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -1141,7 +1141,8 @@ bool AP_Arming::pre_arm_checks(bool report)
         &  osd_checks(report)
         &  visodom_checks(report)
         &  aux_auth_checks(report)
-        &  disarm_switch_checks(report);
+        &  disarm_switch_checks(report)
+        &  fence_checks(report);
 }
 
 bool AP_Arming::arm_checks(AP_Arming::Method method)
@@ -1167,6 +1168,14 @@ bool AP_Arming::arm_checks(AP_Arming::Method method)
             return false;
         }
     }
+
+    AC_Fence *fence = AP::fence();
+    if (fence != nullptr) {
+        // If a fence is set to auto-enable, turn on the fence
+        if(fence->auto_enabled() == AC_Fence::AutoEnable::ONLY_WHEN_ARMED) {
+            fence->enable(true);
+        }
+    }
     
     // note that this will prepare AP_Logger to start logging
     // so should be the last check to be done before arming
@@ -1235,6 +1244,13 @@ bool AP_Arming::disarm(const AP_Arming::Method method, bool do_disarm_checks)
     }
 #endif
 
+    AC_Fence *fence = AP::fence();
+    if (fence != nullptr) {
+        if(fence->auto_enabled() == AC_Fence::AutoEnable::ONLY_WHEN_ARMED) {
+            fence->enable(false);
+        }
+    }
+
     return true;
 }