GeoFence not being disabled in Auto mission during Vtol Land.

[AdrianCou]

Bug report

Issue details

Using fully auto mission (Auto VTOL_TAKEOFF & VTOL_LAND) with GeoFence with a non-zero FENCE_MINALT.
Issue seems to occur with FENCE_AUTOENABLE set to 1 or 2 (as 3 cannot be used with a non-zero FENCE_MINALT).

During VTOL landing, aircraft passes through MIN_ALT and triggers a RTL response (FENCE_ACTION = 4).

Aircraft transitions back to fixed wing flight and then RTL's.. switches to QRTL (Q_RTL_MODE = 1) when within RTL_RADIUS (50m).

Aircraft descends in QRTL through MIN_ALT and triggers a RTL response and then repeats...

To land aircraft, had to disable FENCE_ACTION.

Version
Version 4.x of ArduPlane (Apologies, dont have access to autopilot at the moment).
Recreated in SITL / Mission Planner 1.3.74 build 1.3.7563.27684

Platform
[ ] All
[ ] AntennaTracker
[ ] Copter
[ X] Plane
[ ] Rover
[ ] Submarine

Airframe type
Fixed Wing VTOL

Hardware type
PixHawk Cube Black

Logs
Attached Log from SITL.

2020-11-28 09-20-31.zip

2020-11-28 09-20-31.log.zip

[lthall]

This seems to be a bug where the landing in quadplane is treated as normal flight causing a state loop.
This happened on 4.0.7 official.