From 04e2877974e762cb83a57ab3e1fda4f128fa93e9 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Tue, 2 Jan 2024 19:53:12 +0000
Subject: [PATCH] Copter: check fence at faster rates when going faster to
 avoid massive fence breaches

---
 ArduCopter/Copter.cpp | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index e765bbca9f5b6..5782538ee22e2 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -149,6 +149,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 
     SCHED_TASK(rc_loop,              250,    130,  3),
     SCHED_TASK(throttle_loop,         50,     75,  6),
+#if AP_FENCE_ENABLED
+    SCHED_TASK(fence_check,           25,    100,  7),
+#endif
     SCHED_TASK_CLASS(AP_GPS,               &copter.gps,                 update,          50, 200,   9),
 #if AP_OPTICALFLOW_ENABLED
     SCHED_TASK_CLASS(AP_OpticalFlow,          &copter.optflow,             update,         200, 160,  12),
@@ -622,12 +625,6 @@ void Copter::three_hz_loop()
     // check for deadreckoning failsafe
     failsafe_deadreckon_check();
 
-#if AP_FENCE_ENABLED
-    // check if we have breached a fence
-    fence_check();
-#endif // AP_FENCE_ENABLED
-
-
     // update ch6 in flight tuning
     tuning();