Copter: disable fences for landing by suppressing in the fence check rather than using a state machine

ArduCopter/fence.cpp

@@ -10,8 +10,12 @@ void Copter::fence_check()
 {
     const uint8_t orig_breaches = fence.get_breaches();
 
+    bool is_in_landing = flightmode->mode_number() == Mode::Number::LAND
+                         || flightmode->mode_number() == Mode::Number::RTL
+                         || flightmode->mode_number() == Mode::Number::SMART_RTL;
+
     // check for new breaches; new_breaches is bitmask of fence types breached
-    const uint8_t new_breaches = fence.check();
+    const uint8_t new_breaches = fence.check(is_in_landing);
 
     // we still don't do anything when disarmed, but we do check for fence breaches.
     // fence pre-arm check actually checks if any fence has been breached 

ArduCopter/mode_auto.cpp

@@ -488,11 +488,6 @@ void ModeAuto::land_start()
     copter.landinggear.deploy_for_landing();
 #endif
 
-#if AP_FENCE_ENABLED
-    // disable the fence on landing
-    copter.fence.auto_disable_fence_for_landing();
-#endif
-
     // reset flag indicating if pilot has applied roll or pitch inputs during landing
     copter.ap.land_repo_active = false;
 

ArduCopter/mode_land.cpp

@@ -41,11 +41,6 @@ bool ModeLand::init(bool ignore_checks)
     copter.landinggear.deploy_for_landing();
 #endif
 
-#if AP_FENCE_ENABLED
-    // disable the fence on landing
-    copter.fence.auto_disable_fence_for_landing();
-#endif
-
 #if AC_PRECLAND_ENABLED
     // initialise precland state machine
     copter.precland_statemachine.init();

ArduCopter/mode_rtl.cpp

@@ -255,11 +255,6 @@ void ModeRTL::descent_start()
     // optionally deploy landing gear
     copter.landinggear.deploy_for_landing();
 #endif
-
-#if AP_FENCE_ENABLED
-    // disable the fence on landing
-    copter.fence.auto_disable_fence_for_landing();
-#endif
 }
 
 // rtl_descent_run - implements the final descent to the RTL_ALT
@@ -347,11 +342,6 @@ void ModeRTL::land_start()
     // optionally deploy landing gear
     copter.landinggear.deploy_for_landing();
 #endif
-
-#if AP_FENCE_ENABLED
-    // disable the fence on landing
-    copter.fence.auto_disable_fence_for_landing();
-#endif
 }
 
 bool ModeRTL::is_landing() const