From 3a11a1cf0de7a6961b3a8b2d49f55272b7ca50e5 Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir@manna.aero>
Date: Thu, 21 Sep 2023 16:23:24 +0200
Subject: [PATCH] Rover: add mission Terminate action for fence breach

---
 Rover/fence.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/Rover/fence.cpp b/Rover/fence.cpp
index b6ec9a9c2f..7150c88c46 100644
--- a/Rover/fence.cpp
+++ b/Rover/fence.cpp
@@ -42,6 +42,9 @@ void Rover::fence_check()
                         set_mode(mode_hold, ModeReason::FENCE_BREACHED);
                     }
                     break;
+                case FailsafeAction::Terminate:
+                    arming.disarm(AP_Arming::Method::FENCEBREACH);
+                    break;
                 }
             } else {
                 // if more than 100m outside the fence just force to HOLD