From c5ebd120f19151cb3afc05a92a49ace8a80b6acc Mon Sep 17 00:00:00 2001
From: Michael Day <mday299@yahoo.com>
Date: Tue, 25 Mar 2014 17:38:06 -0700
Subject: [PATCH] GCS_MAVLink: XML for MAV_CMD_DO_FENCE_ENABLE and
 MAV_SYS_STATUS_GEOFENCE

---
 .../message_definitions/ardupilotmega.xml          | 14 +++++++++++++-
 .../GCS_MAVLink/message_definitions/common.xml     |  3 +++
 2 files changed, 16 insertions(+), 1 deletion(-)

diff --git a/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml b/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
index 13033228b1..94105a3cd2 100644
--- a/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
+++ b/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
@@ -76,7 +76,19 @@
 	      <param index="5">Empty</param>
 	      <param index="6">Empty</param>
 	      <param index="7">Empty</param>
-	    </entry>
+      </entry>
+
+      <entry name="MAV_CMD_DO_FENCE_ENABLE" value="207">
+          <description>Mission command to enable the geofence</description>
+          <param index="1">enable? (0=disable, 1=enable)</param>
+          <param index="2">Empty</param>
+	      <param index="3">Empty</param>
+	      <param index="4">Empty</param>
+	      <param index="5">Empty</param>
+	      <param index="6">Empty</param>
+	      <param index="7">Empty</param>
+        </entry>
+
 	  </enum>
 
 	  <!-- fenced mode enums -->
diff --git a/libraries/GCS_MAVLink/message_definitions/common.xml b/libraries/GCS_MAVLink/message_definitions/common.xml
index 9ba16a407d..cb734d73af 100644
--- a/libraries/GCS_MAVLink/message_definitions/common.xml
+++ b/libraries/GCS_MAVLink/message_definitions/common.xml
@@ -390,6 +390,9 @@
                <entry value="524288" name="MAV_SYS_STATUS_SENSOR_3D_MAG2">
                     <description>0x80000 2nd 3D magnetometer</description>
                </entry>
+               <entry value="1048576" name="MAV_SYS_STATUS_GEOFENCE">
+                    <description>0x100000 geofence</description>
+               </entry>
           </enum>
           <enum name="MAV_FRAME">
                <entry value="0" name="MAV_FRAME_GLOBAL">