diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index 1601cbaa38..bc0973455e 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -405,14 +405,14 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Param: CH7_OPT
     // @DisplayName: Channel 7 option
     // @Description: Select which function if performed when CH7 is above 1800 pwm
-    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 12:ResetToArmedYaw
+    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw
     // @User: Standard
     GSCALAR(ch7_option, "CH7_OPT",                  CH7_OPTION),
 
     // @Param: CH8_OPT
     // @DisplayName: Channel 8 option
     // @Description: Select which function if performed when CH8 is above 1800 pwm
-    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 12:ResetToArmedYaw
+    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw
     // @User: Standard
     GSCALAR(ch8_option, "CH8_OPT",                  CH8_OPTION),
 
diff --git a/ArduCopter/control_modes.pde b/ArduCopter/control_modes.pde
index 8acb2883d0..38abbb8430 100644
--- a/ArduCopter/control_modes.pde
+++ b/ArduCopter/control_modes.pde
@@ -86,6 +86,7 @@ static void init_aux_switches()
     switch(g.ch7_option) {
         case AUX_SWITCH_SIMPLE_MODE:
         case AUX_SWITCH_SONAR:
+        case AUX_SWITCH_FENCE:
         case AUX_SWITCH_RESETTOARMEDYAW:
             do_aux_switch_function(g.ch7_option, ap_system.CH7_flag);
             break;
@@ -100,6 +101,7 @@ static void init_aux_switches()
     switch(g.ch8_option) {
         case AUX_SWITCH_SIMPLE_MODE:
         case AUX_SWITCH_SONAR:
+        case AUX_SWITCH_FENCE:
         case AUX_SWITCH_RESETTOARMEDYAW:
             do_aux_switch_function(g.ch8_option, ap_system.CH8_flag);
             break;
@@ -217,6 +219,12 @@ static void do_aux_switch_function(int8_t ch_function, bool ch_flag)
             g.sonar_enabled = ch_flag;
             break;
 
+#if AC_FENCE == ENABLED
+        case AUX_SWITCH_FENCE:
+            // enable or disable the fence
+            fence.enable(ch_flag);
+            break;
+#endif
         case AUX_SWITCH_RESETTOARMEDYAW:
             if (ch_flag) {
                 set_yaw_mode(YAW_RESETTOARMEDYAW);
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 3cfcf84a74..a5c9bd95c5 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -60,7 +60,7 @@
 #define AUX_SWITCH_MULTI_MODE       8       // depending upon CH6 position Flip (if ch6 is low), RTL (if ch6 in middle) or Save WP (if ch6 is high)
 #define AUX_SWITCH_CAMERA_TRIGGER   9       // trigger camera servo or relay
 #define AUX_SWITCH_SONAR            10      // allow enabling or disabling sonar in flight which helps avoid surface tracking when you are far above the ground
-#define AUX_SWITCH_UNUSED_RFU       11      // unused reserved for future use
+#define AUX_SWITCH_FENCE            11      // allow enabling or disabling fence in flight
 #define AUX_SWITCH_RESETTOARMEDYAW  12      // changes yaw to be same as when quad was armed
 
 
@@ -185,7 +185,7 @@
 // Yaw behaviours during missions - possible values for WP_YAW_BEHAVIOR parameter
 #define WP_YAW_BEHAVIOR_NONE                          0   // auto pilot will never control yaw during missions or rtl (except for DO_CONDITIONAL_YAW command received)
 #define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP               1   // auto pilot will face next waypoint or home during rtl
-#define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL    2   // auto pilot will face next waypoint except when doing RTL at which time it will stay in it's last
+#define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL    2   // auto pilot will face next waypoint except when doing RTL at which time it will stay in it's last 
 #define WP_YAW_BEHAVIOR_LOOK_AHEAD                    3   // auto pilot will look ahead during missions and rtl (primarily meant for traditional helicotpers)
 
 // TOY mixing options