From a7422153cb47ca25ee07bb7fc06d32af4698e061 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 20 Jun 2016 16:46:07 +0900
Subject: [PATCH] SITL: disable avoidance so we can trigger fence failsafe

---
 Tools/autotest/arducopter.py | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 8ee7e14b518..0c3287d142c 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -396,8 +396,9 @@ def fly_fence_test(mavproxy, mav, timeout=180):
     mavproxy.send('switch 5\n') # loiter mode
     wait_mode(mav, 'LOITER')
 
-    # enable fence
+    # enable fence, disable avoidance
     mavproxy.send('param set FENCE_ENABLE 1\n')
+    mavproxy.send('param set AVOID_ENABLE 0\n')
 
     # first east
     print("turn east")
@@ -435,8 +436,11 @@ def fly_fence_test(mavproxy, mav, timeout=180):
             wait_mode(mav, 'STABILIZE')
             print("Reached home OK")
             return True
-    # disable fence
+
+    # disable fence, enable avoidance
     mavproxy.send('param set FENCE_ENABLE 0\n')
+    mavproxy.send('param set AVOID_ENABLE 1\n')
+
     # reduce throttle
     mavproxy.send('rc 3 1000\n')
     # switch mode to stabilize