Plane: disable fences for landing by suppressing in the fence check rather than using a state machine

ArduPlane/commands_logic.cpp

@@ -434,10 +434,6 @@ void Plane::do_land(const AP_Mission::Mission_Command& cmd)
         // if we were in an abort we need to explicitly move out of the abort state, as it's sticky
         set_flight_stage(AP_FixedWing::FlightStage::LAND);
     }
-
-#if AP_FENCE_ENABLED
-    plane.fence.auto_disable_fence_for_landing();
-#endif
 }
 
 #if HAL_QUADPLANE_ENABLED

ArduPlane/fence.cpp

@@ -9,8 +9,16 @@ void Plane::fence_check()
 {
     const uint8_t orig_breaches = fence.get_breaches();
 
+    uint16_t mission_id = plane.mission.get_current_nav_cmd().id;
+    bool is_in_landing = plane.flight_stage == AP_FixedWing::FlightStage::LAND
+#if HAL_QUADPLANE_ENABLED
+                         || control_mode->mode_number() == Mode::Number::QLAND
+                         || control_mode->mode_number() == Mode::Number::QRTL
+#endif
+                         || (plane.is_land_command(mission_id) && plane.mission.state() == AP_Mission::MISSION_RUNNING);
+
     // check for new breaches; new_breaches is bitmask of fence types breached
-    const uint8_t new_breaches = fence.check();
+    const uint8_t new_breaches = fence.check(is_in_landing);
 
     if (!fence.enabled()) {
         // Switch back to the chosen control mode if still in

ArduPlane/mode_auto.cpp

@@ -54,10 +54,6 @@ void ModeAuto::_exit()
         }
 #endif
         if (restart) {
-#if AP_FENCE_ENABLED
-            // no longer landing to re-enable the possiblity of the fence floor
-            plane.fence.reset_fence_floor_enable();
-#endif
             plane.landing.restart_landing_sequence();
         }
     }

ArduPlane/mode_qland.cpp

@@ -16,9 +16,6 @@ bool ModeQLand::_enter()
 #if AP_LANDINGGEAR_ENABLED
     plane.g2.landing_gear.deploy_for_landing();
 #endif
-#if AP_FENCE_ENABLED
-    plane.fence.auto_disable_fence_for_landing();
-#endif
 
     return true;
 }

ArduPlane/quadplane.cpp

@@ -3554,9 +3554,6 @@ bool QuadPlane::verify_vtol_land(void)
             poscontrol.pilot_correction_done = false;
             pos_control->set_lean_angle_max_cd(0);
             poscontrol.xy_correction.zero();
-#if AP_FENCE_ENABLED
-            plane.fence.auto_disable_fence_for_landing();
-#endif
 #if AP_LANDINGGEAR_ENABLED
             plane.g2.landing_gear.deploy_for_landing();
 #endif