From 3dbcbe00267ebf30ed65dbc5b2cfc96137e0ce77 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Fri, 19 Jan 2024 12:30:46 +0000
Subject: [PATCH] AP_Arming: do not enable minimim altitude fence on arming

call appropriate fence method for auto-enablement
---
 libraries/AP_Arming/AP_Arming.cpp | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index fa8cc8aab0..83e7cac174 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -1797,11 +1797,7 @@ bool AP_Arming::arm(AP_Arming::Method method, const bool do_arming_checks)
     if (armed) {
         auto *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);
-                GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Fence: auto-enabled");
-            }
+            fence->auto_enable_fence_on_arming();
         }
     }
 #endif
@@ -1845,7 +1841,7 @@ bool AP_Arming::disarm(const AP_Arming::Method method, bool do_disarm_checks)
     AC_Fence *fence = AP::fence();
     if (fence != nullptr) {
         if(fence->auto_enabled() == AC_Fence::AutoEnable::ONLY_WHEN_ARMED) {
-            fence->enable(false);
+            fence->enable_configured(false);
         }
     }
 #endif