From bee4ad24d88d975978dfcce4a9ff5b808809302e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 3 Nov 2019 09:08:39 +1100
Subject: [PATCH] Plane: do not trust fence-channel PWM during RC failsafe

---
 ArduPlane/geofence.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/ArduPlane/geofence.cpp b/ArduPlane/geofence.cpp
index bdd7904a7c..2ee9943f86 100644
--- a/ArduPlane/geofence.cpp
+++ b/ArduPlane/geofence.cpp
@@ -160,6 +160,11 @@ bool Plane::geofence_present(void)
  */
 void Plane::geofence_update_pwm_enabled_state() 
 {
+    if (rc_failsafe_active()) {
+        // do nothing based on the radio channel value as it may be at bind value
+        return;
+    }
+
     bool is_pwm_enabled;
     if (g.fence_channel == 0) {
         is_pwm_enabled = false;