From 93fdbf15732284450b9f63cf8320a74ca0994448 Mon Sep 17 00:00:00 2001
From: khancyr <pierre.kancir.emn@gmail.com>
Date: Thu, 20 Jul 2017 18:42:28 +0200
Subject: [PATCH] AC_Fence: reset fences breach on disable

Also rename enable function parameter
---
 libraries/AC_Fence/AC_Fence.cpp | 8 ++++++++
 libraries/AC_Fence/AC_Fence.h   | 2 +-
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/libraries/AC_Fence/AC_Fence.cpp b/libraries/AC_Fence/AC_Fence.cpp
index 283f03a53b..4ce2e3da3e 100644
--- a/libraries/AC_Fence/AC_Fence.cpp
+++ b/libraries/AC_Fence/AC_Fence.cpp
@@ -97,6 +97,14 @@ AC_Fence::AC_Fence(const AP_AHRS& ahrs, const AP_InertialNav& inav) :
     }
 }
 
+void AC_Fence::enable(bool value)
+{
+    _enabled = value;
+    if (!value) {
+        clear_breach(AC_FENCE_TYPE_ALT_MAX | AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON);
+    }
+}
+
 /// get_enabled_fences - returns bitmask of enabled fences
 uint8_t AC_Fence::get_enabled_fences() const
 {
diff --git a/libraries/AC_Fence/AC_Fence.h b/libraries/AC_Fence/AC_Fence.h
index c6cf0bb120..bdd414eb78 100644
--- a/libraries/AC_Fence/AC_Fence.h
+++ b/libraries/AC_Fence/AC_Fence.h
@@ -40,7 +40,7 @@ public:
     AC_Fence(const AP_AHRS& ahrs, const AP_InertialNav& inav);
 
     /// enable - allows fence to be enabled/disabled.  Note: this does not update the eeprom saved value
-    void enable(bool true_false) { _enabled = true_false; }
+    void enable(bool value);
 
     /// enabled - returns true if fence is enabled
     bool enabled() const { return _enabled; }