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AC_Fence: clear breach if breached fence is not enabled #13898

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rishabsingh3003 commented Mar 26, 2020

To reproduce this bug in SITL (while unarmed),

  • Enable Circle Fence, set home outside the Fence radius (a pre arm error will be visible)
  • Now change Fence type to not include Circle Fence ( by setting the fence to altitude or polygon)
  • The vehicle will still throw the same pre-arm error

While the vehicle is not armed, if a breach from an enabled fence is detected, the vehicle will not arm and throw a pre-arm error.
If the user now changes the fence type to NOT include the breached fence, the vehicle will still not arm.
This PR fixes this issue. This also solves the issue #11488.
Works well in SITL

@rishabsingh3003 rishabsingh3003 force-pushed the rishabsingh3003:fence_param_change_fix branch from 3d79a6d to 48ad8d0 Mar 27, 2020
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