From eaf001c52fdbf55693aa3e22dd5b1d30d53876c5 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Fri, 31 May 2024 14:13:43 +0100
Subject: [PATCH] Copter: disable fences for landing by suppressing in the
 fence check rather than using a state machine

---
 ArduCopter/fence.cpp     |  6 +++++-
 ArduCopter/mode_auto.cpp |  5 -----
 ArduCopter/mode_land.cpp |  5 -----
 ArduCopter/mode_rtl.cpp  | 10 ----------
 4 files changed, 5 insertions(+), 21 deletions(-)

diff --git a/ArduCopter/fence.cpp b/ArduCopter/fence.cpp
index aba1ecce5b..7cae5dda8d 100644
--- a/ArduCopter/fence.cpp
+++ b/ArduCopter/fence.cpp
@@ -10,8 +10,12 @@ void Copter::fence_check()
 {
     const uint8_t orig_breaches = fence.get_breaches();
 
+    bool is_in_landing = flightmode->mode_number() == Mode::Number::LAND
+                         || flightmode->mode_number() == Mode::Number::RTL
+                         || flightmode->mode_number() == Mode::Number::SMART_RTL;
+
     // check for new breaches; new_breaches is bitmask of fence types breached
-    const uint8_t new_breaches = fence.check();
+    const uint8_t new_breaches = fence.check(is_in_landing);
 
     // we still don't do anything when disarmed, but we do check for fence breaches.
     // fence pre-arm check actually checks if any fence has been breached 
diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index 9a6b684cf1..b672ba4d54 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -488,11 +488,6 @@ void ModeAuto::land_start()
     copter.landinggear.deploy_for_landing();
 #endif
 
-#if AP_FENCE_ENABLED
-    // disable the fence on landing
-    copter.fence.auto_disable_fence_for_landing();
-#endif
-
     // reset flag indicating if pilot has applied roll or pitch inputs during landing
     copter.ap.land_repo_active = false;
 
diff --git a/ArduCopter/mode_land.cpp b/ArduCopter/mode_land.cpp
index 1f34e20fbf..2b5b6e8879 100644
--- a/ArduCopter/mode_land.cpp
+++ b/ArduCopter/mode_land.cpp
@@ -41,11 +41,6 @@ bool ModeLand::init(bool ignore_checks)
     copter.landinggear.deploy_for_landing();
 #endif
 
-#if AP_FENCE_ENABLED
-    // disable the fence on landing
-    copter.fence.auto_disable_fence_for_landing();
-#endif
-
 #if AC_PRECLAND_ENABLED
     // initialise precland state machine
     copter.precland_statemachine.init();
diff --git a/ArduCopter/mode_rtl.cpp b/ArduCopter/mode_rtl.cpp
index d3250e4265..cfee04ff72 100644
--- a/ArduCopter/mode_rtl.cpp
+++ b/ArduCopter/mode_rtl.cpp
@@ -255,11 +255,6 @@ void ModeRTL::descent_start()
     // optionally deploy landing gear
     copter.landinggear.deploy_for_landing();
 #endif
-
-#if AP_FENCE_ENABLED
-    // disable the fence on landing
-    copter.fence.auto_disable_fence_for_landing();
-#endif
 }
 
 // rtl_descent_run - implements the final descent to the RTL_ALT
@@ -347,11 +342,6 @@ void ModeRTL::land_start()
     // optionally deploy landing gear
     copter.landinggear.deploy_for_landing();
 #endif
-
-#if AP_FENCE_ENABLED
-    // disable the fence on landing
-    copter.fence.auto_disable_fence_for_landing();
-#endif
 }
 
 bool ModeRTL::is_landing() const