Copter: notify when fence breach has cleared

output fence breach type
when switching mode without a fence action do not go into manual recovery
only recover if there is a fence action

ArduCopter/fence.cpp

@@ -5,13 +5,13 @@
 #if AP_FENCE_ENABLED
 
 // fence_check - ask fence library to check for breaches and initiate the response
-// called at 1hz
+// called at 25hz
 void Copter::fence_check()
 {
     const uint8_t orig_breaches = fence.get_breaches();
 
     // 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(motors->armed() && !copter.ap.land_complete);
 
     // 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 
@@ -24,7 +24,8 @@ void Copter::fence_check()
     if (new_breaches) {
 
         if (!copter.ap.land_complete) {
-            GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Fence Breached");
+            GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "%s Fence Breached", new_breaches & AC_FENCE_TYPE_CIRCLE ? "Circle" :
+                new_breaches & AC_FENCE_TYPE_ALT_MAX ? "Max Alt" : new_breaches & AC_FENCE_TYPE_ALT_MIN ? "Min Alt" : "Polygon");
         }
 
         // if the user wants some kind of response and motors are armed
@@ -81,7 +82,8 @@ void Copter::fence_check()
 
         AP::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
         AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode::ERROR_RESOLVED);
     }

ArduCopter/mode.cpp

@@ -368,10 +368,12 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
 #endif
 
 #if AP_FENCE_ENABLED
-    // pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
-    // this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
-    // but it should be harmless to disable the fence temporarily in these situations as well
-    fence.manual_recovery_start();
+    if (fence.get_action() != AC_FENCE_ACTION_REPORT_ONLY) {
+        // pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
+        // this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
+        // but it should be harmless to disable the fence temporarily in these situations as well
+        fence.manual_recovery_start();
+    }
 #endif
 
 #if AP_CAMERA_ENABLED