diff --git a/conf/flight_plans/AGGIEAIR/BasicTuning_Launcher.xml b/conf/flight_plans/AGGIEAIR/BasicTuning_Launcher.xml
index 5e18ceafb4..1ceffb9254 100644
--- a/conf/flight_plans/AGGIEAIR/BasicTuning_Launcher.xml
+++ b/conf/flight_plans/AGGIEAIR/BasicTuning_Launcher.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
 
-<flight_plan alt="1550" ground_alt="1350" lat0="41.815562" lon0="-111.982437" max_dist_from_home="3000" name="BasicTuning" security_height="25" home_mode_height="-200" qfu="90" geofence_sector="FlightArea" geofence_max_alt="2000" geofence_max_agl="500">
+<flight_plan alt="1550" ground_alt="1350" lat0="41.815562" lon0="-111.982437" max_dist_from_home="3000" name="BasicTuning" security_height="25" home_mode_height="-200" qfu="90" geofence_sector="FlightArea" geofence_max_alt="2000" geofence_max_height="500">
   <header>
 #include "subsystems/datalink/datalink.h"
 </header>
diff --git a/conf/flight_plans/flight_plan.dtd b/conf/flight_plans/flight_plan.dtd
index d73ac94cf8..f5bd1a97d6 100644
--- a/conf/flight_plans/flight_plan.dtd
+++ b/conf/flight_plans/flight_plan.dtd
@@ -68,7 +68,7 @@ alt CDATA #REQUIRED
 qfu CDATA #IMPLIED
 home_mode_height CDATA #IMPLIED
 geofence_max_alt CDATA #IMPLIED
-geofence_max_agl CDATA #IMPLIED
+geofence_max_height CDATA #IMPLIED
 geofence_sector CDATA #IMPLIED>
 
 <!ATTLIST waypoints
diff --git a/sw/airborne/modules/nav/nav_geofence.h b/sw/airborne/modules/nav/nav_geofence.h
index 388ad8171d..6946144e87 100644
--- a/sw/airborne/modules/nav/nav_geofence.h
+++ b/sw/airborne/modules/nav/nav_geofence.h
@@ -25,6 +25,7 @@
  * Optional exceptions triggeringg HOME_MODE
  * 1) GEOFENCE_DATALINK_LOST_TIME: go to HOME mode if datalink lost for GEOFENCE_DATALINK_LOST_TIME
  * 2) GEOFENCE_MAX_ALTITUDE: go HOME if airplane higher than the max altitude
+ * 3) GEOFENCE_MAX_HEIGHT: go HOME if airplane higher than the max height
  *
  * home_mode_max_alt is (optionally) defined in the flight plan
  * GEOFENCE_DATALINK_LOST_TIME is defined in the airframe config file
@@ -49,7 +50,7 @@ static inline bool datalink_lost(void)
 #endif /* GEOFENCE_DATALINK_LOST_TIME */
 
 
-#if defined GEOFENCE_MAX_ALTITUDE || defined GEOFENCE_MAX_AGL// user defined geofence_max_altitude (or AGL) in the flight plan
+#if defined GEOFENCE_MAX_ALTITUDE || defined GEOFENCE_MAX_HEIGHT// user defined geofence_max_altitude (or AGL) in the flight plan
 static inline bool higher_than_max_altitude(void)
 {
   bool above_max_alt = false;
@@ -57,9 +58,9 @@ static inline bool higher_than_max_altitude(void)
   above_max_alt = above_max_alt || (GetPosAlt() > GEOFENCE_MAX_ALTITUDE);
 #endif /* GEOFENCE_MAX_ALTITUDE */
 
-#ifdef GEOFENCE_MAX_AGL
-  above_max_alt = above_max_alt || (GetPosAlt() > ( GetAltRef() + GEOFENCE_MAX_AGL));
-#endif /* GEOFENCE_MAX_AGL */
+#ifdef GEOFENCE_MAX_HEIGHT
+  above_max_alt = above_max_alt || (GetPosAlt() > ( GetAltRef() + GEOFENCE_MAX_HEIGHT));
+#endif /* GEOFENCE_MAX_HEIGHT */
   return above_max_alt;
 }
 #else // we dont have max altitude specified, so the condition is never true
diff --git a/sw/tools/generators/gen_flight_plan.ml b/sw/tools/generators/gen_flight_plan.ml
index 1ac644a72d..2a163cd9bd 100644
--- a/sw/tools/generators/gen_flight_plan.ml
+++ b/sw/tools/generators/gen_flight_plan.ml
@@ -1021,21 +1021,21 @@ let () =
 
       begin 
         try
-          let geofence_max_agl = get_float "geofence_max_agl" in
-          if geofence_max_agl < !security_height then
+          let geofence_max_height = get_float "geofence_max_height" in
+          if geofence_max_height < !security_height then
             begin
-              fprintf stderr "\nError: Geofence max AGL below security height (%.0f < %.0f)\n" geofence_max_agl !security_height;
+              fprintf stderr "\nError: Geofence max height below security height (%.0f < %.0f)\n" geofence_max_height !security_height;
               exit 1;
             end
-          else if geofence_max_agl < home_mode_height then
+          else if geofence_max_height < home_mode_height then
             begin
-              fprintf stderr "\nError: Geofence max AGL below home mode height (%.0f < %.0f)\n" geofence_max_agl home_mode_height;
+              fprintf stderr "\nError: Geofence max height below home mode height (%.0f < %.0f)\n" geofence_max_height home_mode_height;
               exit 1;
             end
-          else if (geofence_max_agl +. !ground_alt) < (float_of_string alt) then
-            fprintf stderr "\nWarning: Geofence max AGL below default waypoint AGL (%.0f < %.0f)\n" (geofence_max_agl +. !ground_alt) (float_of_string alt);
-          Xml2h.define "GEOFENCE_MAX_AGL" (sof geofence_max_agl);
-          fprintf stderr "\nWarning: Geofence max AGL set to %.0f\n" geofence_max_agl;
+          else if (geofence_max_height +. !ground_alt) < (float_of_string alt) then
+            fprintf stderr "\nWarning: Geofence max AGL below default waypoint AGL (%.0f < %.0f)\n" (geofence_max_height +. !ground_alt) (float_of_string alt);
+          Xml2h.define "GEOFENCE_MAX_HEIGHT" (sof geofence_max_height);
+          fprintf stderr "\nWarning: Geofence max AGL set to %.0f\n" geofence_max_height;
         with
           _ -> ()
       end;