From 367984a6b8c562d959f09de3e401ad98a727d46c Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sat, 6 Aug 2022 21:43:59 +0100
Subject: [PATCH] Plane: set fence manual recovery on mode change

---
 ArduPlane/mode.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/ArduPlane/mode.cpp b/ArduPlane/mode.cpp
index 3042a93956..2c8bc803e1 100644
--- a/ArduPlane/mode.cpp
+++ b/ArduPlane/mode.cpp
@@ -101,6 +101,13 @@ bool Mode::enter()
 
         // update RC failsafe, as mode change may have necessitated changing the failsafe throttle
         plane.control_failsafe();
+
+#if AP_FENCE_ENABLED
+        // pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
+        // this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
+        // but it should be harmless to disable the fence temporarily in these situations as well
+        plane.fence.manual_recovery_start();
+#endif
     }
 
     return enter_result;