From 26811ad46d33d3a8f0954295cc1c9820b95f1820 Mon Sep 17 00:00:00 2001
From: James O'Shannessy <12959316+joshanne@users.noreply.github.com>
Date: Wed, 3 Mar 2021 23:25:47 +1100
Subject: [PATCH] AP_Landing: Autoenable fence if required when landing was
 aborted

---
 libraries/AP_Landing/AP_Landing.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/libraries/AP_Landing/AP_Landing.cpp b/libraries/AP_Landing/AP_Landing.cpp
index da807a9c21..a9418b5b1d 100644
--- a/libraries/AP_Landing/AP_Landing.cpp
+++ b/libraries/AP_Landing/AP_Landing.cpp
@@ -20,6 +20,7 @@
 #include "AP_Landing.h"
 #include <GCS_MAVLink/GCS.h>
 #include <AP_AHRS/AP_AHRS.h>
+#include <AC_Fence/AC_Fence.h>
 
 // table of user settable parameters
 const AP_Param::GroupInfo AP_Landing::var_info[] = {
@@ -249,6 +250,11 @@ bool AP_Landing::verify_abort_landing(const Location &prev_WP_loc, Location &nex
              mission.resume();
          }
          // else we're in AUTO with a stopped mission and handle_auto_mode() will set RTL
+
+        AC_Fence *fence = AP::fence();
+        if (fence) {
+            fence->auto_enable_fence_after_takeoff();
+        }
      }
 
      Log();