From 9aba8852315d6baa351bc5917aaccd649d586e38 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 18 Mar 2015 21:14:35 +0900
Subject: [PATCH] AC_Fence: fix prearm check

before arming the EKF's pred_horiz_pos_abs flag should be used
---
 libraries/AC_Fence/AC_Fence.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AC_Fence/AC_Fence.cpp b/libraries/AC_Fence/AC_Fence.cpp
index 02c54ed123..757244fe7b 100644
--- a/libraries/AC_Fence/AC_Fence.cpp
+++ b/libraries/AC_Fence/AC_Fence.cpp
@@ -102,7 +102,7 @@ bool AC_Fence::pre_arm_check() const
     }
 
     // if we have horizontal limits enabled, check inertial nav position is ok
-    if ((_enabled_fences & AC_FENCE_TYPE_CIRCLE)!=0 && !_inav->get_filter_status().flags.horiz_pos_abs) {
+    if ((_enabled_fences & AC_FENCE_TYPE_CIRCLE)!=0 && !_inav->get_filter_status().flags.horiz_pos_abs && !_inav->get_filter_status().flags.pred_horiz_pos_abs) {
         return false;
     }