Plane: added auto fence enable on VTOL takeoff

fixes issue#724

ArduPlane/Plane.h

@@ -1012,6 +1012,7 @@ private:
     void takeoff_calc_pitch(void);
     int8_t takeoff_tail_hold(void);
     int16_t get_takeoff_pitch_min_cd(void);
+    void complete_auto_takeoff(void);
     void print_hit_enter();
     void ahrs_update();
     void update_speed_height(void);

ArduPlane/commands_logic.cpp

@@ -548,15 +548,7 @@ bool Plane::verify_takeoff()
         auto_state.takeoff_complete = true;
         next_WP_loc = prev_WP_loc = current_loc;
 
-#if GEOFENCE_ENABLED == ENABLED
+        plane.complete_auto_takeoff();
-        if (g.fence_autoenable > 0) {
-            if (! geofence_set_enabled(true, AUTO_TOGGLED)) {
-                gcs_send_text(MAV_SEVERITY_NOTICE, "Enable fence failed (cannot autoenable");
-            } else {
-                gcs_send_text(MAV_SEVERITY_INFO, "Fence enabled (autoenabled)");
-            }
-        }
-#endif
 
         // don't cross-track on completion of takeoff, as otherwise we
         // can end up doing too sharp a turn

ArduPlane/quadplane.cpp

@@ -1684,6 +1684,9 @@ bool QuadPlane::verify_vtol_takeoff(const AP_Mission::Mission_Command &cmd)
     }
     transition_state = TRANSITION_AIRSPEED_WAIT;
     plane.TECS_controller.set_pitch_max_limit(transition_pitch_max);
+
+    plane.complete_auto_takeoff();
+    
     return true;
 }
 

ArduPlane/takeoff.cpp

@@ -225,3 +225,19 @@ return_zero:
     return 0;
 }
 
+
+/*
+  called when an auto-takeoff is complete
+ */
+void Plane::complete_auto_takeoff(void)
+{
+#if GEOFENCE_ENABLED == ENABLED
+    if (g.fence_autoenable > 0) {
+        if (! geofence_set_enabled(true, AUTO_TOGGLED)) {
+            gcs_send_text(MAV_SEVERITY_NOTICE, "Enable fence failed (cannot autoenable");
+        } else {
+            gcs_send_text(MAV_SEVERITY_INFO, "Fence enabled (autoenabled)");
+        }
+    }
+#endif
+}