Andrew Tridgell

@WayneD looks good, pending your OK

@eshaz i'm helping @WayneD with maintainence now. Can you give some results of performance testing for this?

@robbat2 needs a rebase

looks good, assigning to @WayneD for merge

@WayneD looks good, please check

it fails for me on both linux and windows. Can you try using support.ardupilot.org, see if you can reproduce?

failed autotune, QuadcopterX, realflight, 2kph wind, loiter: http://uav.tridgell.net/tmp/00000034.BIN this is pretty benign conditions. Maybe LOITER autotune no longer works?

i think if a later stage fails it shoule be able to save the earlier stage. For example, in above 34.BIN log it failed at yaw stage, it would have...

replaced by #27029

@andyp1per testing on dev call: - [x] with FENCE_AUTOENABLE=3 and FENCE_ALT_MIN=20 on a quadplane if you abort a landing and go back above the FENCE_ALT_MIN, fence doesn't re-enable - [x]...