From 166cb48c1fcac038b1c3fe0d0db6d1dc68dd2dab Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 23 Jul 2024 09:59:50 +1000
Subject: [PATCH] Copter: fully honour FENCE_OPTION to disable mode changes

when the user has chosen to disallow mode change during fence breach
it should be fully implemented, without a landing exception.

as requested by Pete, and discussed on dev call
---
 ArduCopter/mode.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index 89bfbc3235f3a..19de3725dbbeb 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -353,7 +353,6 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
         fence.enabled() &&
         fence.option_enabled(AC_Fence::OPTIONS::DISABLE_MODE_CHANGE) &&
         fence.get_breaches() &&
-        !flightmode->is_landing() &&
         motors->armed() &&
         get_control_mode_reason() == ModeReason::FENCE_BREACHED &&
         !ap.land_complete) {