diff --git a/ArduCopter/fence.cpp b/ArduCopter/fence.cpp index 3d7b59c5c8952eb1de4063aaf8a770906795fa87..e632a5367cefc4065b19d103723bcb2535868294 100644 --- a/ArduCopter/fence.cpp +++ b/ArduCopter/fence.cpp @@ -22,6 +22,13 @@ void Copter::fence_check() return; } +#if AP_ACS_USE == TRUE + //ignore fence in manual modes + if (control_mode == STABILIZE || control_mode == ALT_HOLD || control_mode == DRIFT) { + return; + } +#endif + // if there is a new breach take action if( new_breaches != AC_FENCE_TYPE_NONE ) {