diff --git a/src/lib/geofence/geofence_utils.cpp b/src/lib/geofence/geofence_utils.cpp
index 87bb94f740..3e8b6efbee 100644
--- a/src/lib/geofence/geofence_utils.cpp
+++ b/src/lib/geofence/geofence_utils.cpp
@@ -104,14 +104,9 @@ bool segmentsIntersect(const matrix::Vector2f &p1, const matrix::Vector2f &p2,
 }
 
 bool lineSegmentIntersectsPolygon(const matrix::Vector2f &start, const matrix::Vector2f &end,
-				  const matrix::Vector2f *vertices, int num_vertices, bool flipped)
+				  const matrix::Vector2f *vertices, int num_vertices, bool is_inclusion_zone)
 {
 
-	// If flipped, consider the outside to be the interior of the polygon.
-
-	// For exclusion zones, set !flipped. Results in lines completely outside being non-intersecting (allowed) and inside being intersecting (disallowed).
-	// For inclusion zones, set flipped. Results in lines completely ouside being intersecting (disallowed) and inside being non-intersecting (allowed).
-
 	// First pass: If there is a proper intersection (open line segment
 	// start-end with closed line segment between vertices), it is
 	// intersecting.
@@ -127,7 +122,9 @@ bool lineSegmentIntersectsPolygon(const matrix::Vector2f &start, const matrix::V
 	// Remaining cases: The line is either completely outside or completely inside.
 	const bool midpoint_inside = insidePolygon(vertices, num_vertices, 0.5f * (start + end));
 
-	return midpoint_inside == flipped;
+	// Inclusion zone: inside -> no intersection, outside -> intersection
+	// Exclusion zone: inside -> intersection, outside -> no intersection
+	return midpoint_inside != is_inclusion_zone;
 }
 
 bool lineSegmentIntersectsCircle(const matrix::Vector2f &start, const matrix::Vector2f &end,
diff --git a/src/lib/geofence/geofence_utils.h b/src/lib/geofence/geofence_utils.h
index 6a490d5eda..54ccae8dc7 100644
--- a/src/lib/geofence/geofence_utils.h
+++ b/src/lib/geofence/geofence_utils.h
@@ -84,9 +84,11 @@ bool insideCircle(const matrix::Vector2<double> &center, float radius,
 		  const matrix::Vector2<double> &point);
 
 /**
- * Check if two line segments intersect (excluding endpoints).
+ * Check if two line segments intersect (excluding endpoints*).
  * Works in local Cartesian coordinates (meters).
  *
+ * * TODO write correctly - see inside
+ *
  * @param p1  first segment start in local frame
  * @param p2  first segment end in local frame
  * @param v1  second segment start in local frame
@@ -97,17 +99,19 @@ bool segmentsIntersect(const matrix::Vector2f &p1, const matrix::Vector2f &p2,
 		       const matrix::Vector2f &v1, const matrix::Vector2f &v2);
 
 /**
- * Check if a line segment intersects any edge of a polygon (excluding endpoints).
+ * Check if a line segment and a polygon have non-empty intersection.
  * Works in local Cartesian coordinates (meters).
  *
- * @param start          segment start in local frame
- * @param end            segment end in local frame
- * @param vertices       polygon vertices in local frame
- * @param num_vertices   number of vertices
- * @return true if the segment intersects any polygon edge
+ * @param start             segment start in local frame
+ * @param end               segment end in local frame
+ * @param vertices          polygon vertices in local frame
+ * @param num_vertices      number of vertices
+ * @param is_inclusion_zone If true, consider completely outside lines intersecting, inside non-intersecting. If false the other way around.
+ *
+ * @return true if the segment intersects the disallowed part of the polygon
  */
 bool lineSegmentIntersectsPolygon(const matrix::Vector2f &start, const matrix::Vector2f &end,
-				  const matrix::Vector2f *vertices, int num_vertices);
+				  const matrix::Vector2f *vertices, int num_vertices, bool is_inclusion_zone);
 
 /**
  * Check if a line segment intersects a circle.