From e16bbe6e1878492a4c7a35e03fa89531005abb68 Mon Sep 17 00:00:00 2001
From: James O'Shannessy <12959316+joshanne@users.noreply.github.com>
Date: Sun, 21 Feb 2021 14:56:36 +1100
Subject: [PATCH] AutoTest: Ensure fence state is disabled at end of test

This appears to be another case of the fence state carrying over from one test to another. Disabling the fence at the end of the test appears to have fixed this problem
---
 Tools/autotest/arducopter.py | 20 ++++++++++++--------
 1 file changed, 12 insertions(+), 8 deletions(-)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 46a0ea5612..569381bb2b 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -1307,7 +1307,6 @@ class AutoTestCopter(AutoTest):
 
         # enable fence, disable avoidance
         self.set_parameter("FENCE_ENABLE", 1)
-        self.set_parameter("FENCE_AUTOENABLE", 1)
         self.set_parameter("AVOID_ENABLE", 0)
         self.set_parameter("FENCE_TYPE", 1)
 
@@ -1344,8 +1343,6 @@ class AutoTestCopter(AutoTest):
         self.wait_mode('LOITER')
 
         # enable fence, disable avoidance
-        self.set_parameter("FENCE_ENABLE", 1)
-        self.set_parameter("FENCE_AUTOENABLE", 1)
         self.set_parameter("AVOID_ENABLE", 0)
         self.set_parameter("FENCE_TYPE", 8)
         self.set_parameter("FENCE_ALT_MIN", 20)
@@ -1377,6 +1374,9 @@ class AutoTestCopter(AutoTest):
 
         self.wait_rtl_complete()
 
+        # Disable the fence using mavlink command to ensure cleaned up SITL state
+        self.do_fence_disable()
+
         self.zero_throttle()
 
     def fly_fence_autoenable_always_disabled(self):
@@ -1396,7 +1396,7 @@ class AutoTestCopter(AutoTest):
         # Fence disables at start of landing, check fence is disabled
         self.assert_fence_disabled()
         self.wait_landed_and_disarmed()
-        
+
         self.context_pop()
 
     def fly_fence_autoenable_always_after_takeoff(self):
@@ -1415,7 +1415,7 @@ class AutoTestCopter(AutoTest):
         # Fence disables at start of landing, check fence is disabled
         self.assert_fence_disabled()
         self.wait_landed_and_disarmed()
-        
+
         self.context_pop()
 
     def fly_fence_autoenable_after_takeoff_disable_floor_on_land(self):
@@ -1446,7 +1446,7 @@ class AutoTestCopter(AutoTest):
 
         # Fence enables on arming, check fence is enabled
         self.assert_fence_enabled()
-        
+
         self.disarm_vehicle(force=True)
         # Fence disables on disarm, check fence is disabled
         self.assert_fence_disabled()
@@ -1499,6 +1499,10 @@ class AutoTestCopter(AutoTest):
         # Assert fence is not healthy
         self.assert_sensor_state(fence_bit, healthy=False)
 
+        # Disable the fence using mavlink command to ensure cleaned up SITL state
+        self.do_fence_disable()
+        self.assert_fence_disabled()
+
     def fly_gps_glitch_loiter_test(self, timeout=30, max_distance=20):
         """fly_gps_glitch_loiter_test. Fly south east in loiter and test
         reaction to gps glitch."""
@@ -6645,7 +6649,7 @@ class AutoTestCopter(AutoTest):
 
             ("MinAltFence",
              "Test Min Alt Fence",
-             self.fly_alt_min_fence_test), #26s
+             self.fly_alt_min_fence_test), # 26s
 
             ("FenceAutoEnable",
              "Test Fence Auto-Enable conditions",
@@ -6657,7 +6661,7 @@ class AutoTestCopter(AutoTest):
 
             ("AutoTuneSwitch",
              "Fly AUTOTUNE on a switch",
-             self.fly_autotune_switch),  #105s
+             self.fly_autotune_switch),  # 105s
 
             ("GPSGlitchLoiter",
              "GPS Glitch Loiter Test",