diff --git a/libraries/AC_Fence/AC_Fence.cpp b/libraries/AC_Fence/AC_Fence.cpp
index 094c54faac..c0fb303427 100644
--- a/libraries/AC_Fence/AC_Fence.cpp
+++ b/libraries/AC_Fence/AC_Fence.cpp
@@ -518,3 +518,32 @@ bool AC_Fence::load_polygon_from_eeprom(bool force_reload)
 
     return true;
 }
+
+// methods for mavlink SYS_STATUS message (send_extended_status1)
+bool AC_Fence::geofence_present() const
+{
+    return _enabled;
+}
+
+bool AC_Fence::geofence_enabled() const
+{
+    if (!geofence_present()) {
+        return false;
+    }
+    if (_action == AC_FENCE_ACTION_REPORT_ONLY) {
+        return false;
+    }
+    return true;
+}
+
+bool AC_Fence::geofence_failed() const
+{
+    if (!geofence_present()) {
+        // not failed if not present; can fail if present but not enabled
+        return false;
+    }
+    if (get_breaches() != 0) {
+        return true;
+    }
+    return false;
+}
diff --git a/libraries/AC_Fence/AC_Fence.h b/libraries/AC_Fence/AC_Fence.h
index 1f631f1d52..bfeb9ac543 100644
--- a/libraries/AC_Fence/AC_Fence.h
+++ b/libraries/AC_Fence/AC_Fence.h
@@ -121,6 +121,11 @@ public:
 
     static const struct AP_Param::GroupInfo var_info[];
 
+    // methods for mavlink SYS_STATUS message (send_extended_status1)
+    bool geofence_present() const;
+    bool geofence_enabled() const;
+    bool geofence_failed() const;
+
 private:
     AC_Fence(const AP_AHRS_NavEKF &ahrs);