From 24e1f074d0dce5e47b4f7bb51720cf8e8aafe1ed Mon Sep 17 00:00:00 2001
From: Olivier-ADLER <olivier-git@nerim.net>
Date: Sun, 16 Jun 2013 00:48:48 +0200
Subject: [PATCH] Copter: Fence missing GPS 3D fix check

Fence was missing GPS 3D fix check before selecting recovery decision.
---
 ArduCopter/fence.pde | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/fence.pde b/ArduCopter/fence.pde
index 0344d6a501..1eadc1f8e2 100644
--- a/ArduCopter/fence.pde
+++ b/ArduCopter/fence.pde
@@ -36,7 +36,7 @@ void fence_check()
                 init_disarm_motors();
             }else{
                 // if we have a GPS
-                if( ap.home_is_set ) {
+                if( ap.home_is_set && g_gps->status() == GPS::GPS_OK_FIX_3D ) {
                     // if we are within 100m of the fence, RTL
                     if( fence.get_breach_distance(new_breaches) <= AC_FENCE_GIVE_UP_DISTANCE) {
                         if(control_mode != RTL) {