From 52d81f630fa313db5fab541631a7574e4612a673 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 23 Jun 2016 15:24:58 +0900
Subject: [PATCH] Copter: pass polygon fence mavlink messages to fence

---
 ArduCopter/GCS_Mavlink.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index f81983d8c5..8eef0c71c7 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1944,6 +1944,14 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
         break;
 #endif
 
+#if AC_FENCE == ENABLED
+    // send or receive fence points with GCS
+    case MAVLINK_MSG_ID_FENCE_POINT:            // MAV ID: 160
+    case MAVLINK_MSG_ID_FENCE_FETCH_POINT:
+        copter.fence.handle_msg(chan, msg);
+        break;
+#endif // AC_FENCE == ENABLED
+
 #if CAMERA == ENABLED
     //deprecated.  Use MAV_CMD_DO_DIGICAM_CONFIGURE
     case MAVLINK_MSG_ID_DIGICAM_CONFIGURE:      // MAV ID: 202