From 9da0efaaefb5e2d8bddf1f7600d14faa3508e57a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 29 Aug 2019 19:26:05 +1000
Subject: [PATCH] GCS_MAVLink: fill SYS_STATUS bits from AC_Fence

---
 libraries/GCS_MAVLink/GCS.cpp | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/libraries/GCS_MAVLink/GCS.cpp b/libraries/GCS_MAVLink/GCS.cpp
index 75275638ef..cd290e000a 100644
--- a/libraries/GCS_MAVLink/GCS.cpp
+++ b/libraries/GCS_MAVLink/GCS.cpp
@@ -1,5 +1,6 @@
 #include "GCS.h"
 
+#include <AC_Fence/AC_Fence.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_Logger/AP_Logger.h>
 #include <AP_BattMonitor/AP_BattMonitor.h>
@@ -177,6 +178,19 @@ void GCS::update_sensor_status_flags()
     }
 #endif
 
+    const AC_Fence *fence = AP::fence();
+    if (fence != nullptr) {
+        if (fence->sys_status_enabled()) {
+            control_sensors_enabled |= MAV_SYS_STATUS_GEOFENCE;
+        }
+        if (fence->sys_status_present()) {
+            control_sensors_present |= MAV_SYS_STATUS_GEOFENCE;
+        }
+        if (!fence->sys_status_failed()) {
+            control_sensors_health |= MAV_SYS_STATUS_GEOFENCE;
+        }
+    }
+
     update_vehicle_sensor_status_flags();
 }