diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index 4766cea5c1..fc87bb4ad6 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -147,10 +147,10 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
     case MAV_CMD_DO_FENCE_ENABLE:
 #if AP_FENCE_ENABLED
         if (cmd.p1 == 0) { // disable fence
-            plane.fence.enable(false);
+            plane.fence.enable_configured(false);
             gcs().send_text(MAV_SEVERITY_INFO, "Fence disabled");
         } else if (cmd.p1 == 1) { // enable fence
-            plane.fence.enable(true);
+            plane.fence.enable_configured(true);
             gcs().send_text(MAV_SEVERITY_INFO, "Fence enabled");
         } else if (cmd.p1 == 2) { // disable fence floor only
             plane.fence.disable_floor();
diff --git a/ArduPlane/fence.cpp b/ArduPlane/fence.cpp
index bef88306eb..9615082244 100644
--- a/ArduPlane/fence.cpp
+++ b/ArduPlane/fence.cpp
@@ -115,7 +115,8 @@ void Plane::fence_check()
         }
 
         LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
-    } else if (orig_breaches) {
+    } else if (orig_breaches && fence.get_breaches() == 0) {
+        GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Fence breach cleared");
         // record clearing of breach
         LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode::ERROR_RESOLVED);
     }