From a6300e35d0b66224f01cf1961f1313875c858d6f Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Fri, 16 Feb 2024 14:54:56 -0600
Subject: [PATCH] Plane: prevent Mode Takeoff calling fence autoenable more
 than once

---
 ArduPlane/Plane.h          | 3 +++
 ArduPlane/mode_takeoff.cpp | 6 +++++-
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index b1af208397..443f2d56a1 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -250,6 +250,9 @@ private:
 
     // are we currently in long failsafe but have postponed it in MODE TAKEOFF until min level alt is reached
     bool long_failsafe_pending;
+    
+    //flag that we have already called autoenable fences once in MODE TAKEOFF
+    bool have_autoenabled_fences;
 
     // GCS selection
     GCS_Plane _gcs; // avoid using this; use gcs()
diff --git a/ArduPlane/mode_takeoff.cpp b/ArduPlane/mode_takeoff.cpp
index 37d0203fcf..0854e51245 100644
--- a/ArduPlane/mode_takeoff.cpp
+++ b/ArduPlane/mode_takeoff.cpp
@@ -63,6 +63,7 @@ ModeTakeoff::ModeTakeoff() :
 bool ModeTakeoff::_enter()
 {
     takeoff_mode_setup = false;
+    plane.have_autoenabled_fences = false;
 
     return true;
 }
@@ -154,7 +155,10 @@ void ModeTakeoff::update()
     } else {
         if ((altitude_cm >= alt * 100 - 200)) { //within 2m of TKOFF_ALT ,or above and loitering
 #if AP_FENCE_ENABLED
-            plane.fence.auto_enable_fence_after_takeoff();
+            if (!plane.have_autoenabled_fences) {
+                plane.fence.auto_enable_fence_after_takeoff();
+                plane.have_autoenabled_fences = true;
+            }
 #endif
             plane.calc_nav_roll();
             plane.calc_nav_pitch();