diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index 2703dbf160..9f8d3f6b95 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -611,6 +611,10 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP
         cmd.content.cam_trigg_dist.meters = packet.param1;  // distance between camera shots in meters
         break;
 
+    case MAV_CMD_DO_FENCE_ENABLE:                       // MAV ID: 207
+        cmd.p1 = packet.param1;                         // action 0=disable, 1=enable
+        break;
+
     case MAV_CMD_DO_PARACHUTE:                         // MAV ID: 208
         cmd.p1 = packet.param1;                        // action 0=disable, 1=enable, 2=release.  See PARACHUTE_ACTION enum
         break;
@@ -880,6 +884,10 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd,
         packet.param1 = cmd.content.cam_trigg_dist.meters;  // distance between camera shots in meters
         break;
 
+    case MAV_CMD_DO_FENCE_ENABLE:                       // MAV ID: 207
+        packet.param1 = cmd.p1;                         // action 0=disable, 1=enable
+        break;
+
     case MAV_CMD_DO_PARACHUTE:                          // MAV ID: 208
         packet.param1 = cmd.p1;                         // action 0=disable, 1=enable, 2=release.  See PARACHUTE_ACTION enum
         break;