From 5253b8a3ee157ab0ba6621283e8f84f6daafddf4 Mon Sep 17 00:00:00 2001
From: James O'Shannessy <12959316+joshanne@users.noreply.github.com>
Date: Thu, 29 Apr 2021 19:24:16 +1000
Subject: [PATCH] ArduPlane: Fix spiralling loiters when no fence return point
 can be found

---
 ArduPlane/fence.cpp | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/ArduPlane/fence.cpp b/ArduPlane/fence.cpp
index 5deb728bde..fdbd87e4ed 100644
--- a/ArduPlane/fence.cpp
+++ b/ArduPlane/fence.cpp
@@ -92,9 +92,11 @@ void Plane::fence_check()
                     guided_WP_loc.lat = return_point[0];
                     guided_WP_loc.lng = return_point[1];
                 } else {
-                    // should. not. happen.
-                    guided_WP_loc.lat = current_loc.lat;
-                    guided_WP_loc.lng = current_loc.lng;
+                    // When no fence return point is found (ie. no inclusion fence uploaded, but exclusion is)
+                    // we fail to obtain a valid fence return point. In this case, home is considered a safe
+                    // return point.
+                    guided_WP_loc.lat = home.lat;
+                    guided_WP_loc.lng = home.lng;
                 }
             }