fieldcheck: adjust required fence action based on vehicle type

this was enforcing a non-existant fence action on Plane...

MAVProxy/modules/mavproxy_fieldcheck/__init__.py

@@ -109,13 +109,19 @@ def whinge(self, message):
     def check_parameters(self, fix=False):
         '''check key parameters'''
         want_values = {
-            "FENCE_ACTION": 4,
+            "FENCE_ENABLE": 1,
+            "FENCE_ACTION": 1,  # 4 is break-or-land on Copter!
             "FENCE_ALT_MAX": self.fc_settings.param_fence_maxalt,
             "THR_FAILSAFE": 1,
             "FS_SHORT_ACTN": 0,
             "FS_LONG_ACTN": 1,
         }
 
+        if self.vehicle_type == mavutil.mavlink.MAV_TYPE_FIXED_WING:
+            want_values["FENCE_ACTION"] = 1  # RTL
+        elif self.vehicle_type == mavutil.mavlink.MAV_TYPE_QUADROTOR:
+            want_values["FENCE_ACTION"] = 4  # Brake or RTL
+
         ret = True
         for key in want_values.keys():
             want = want_values[key]
@@ -330,7 +336,9 @@ def check(self):
     def mavlink_packet(self, m):
         '''handle an incoming mavlink packet'''
         if not self.done_heartbeat_check:
-            if self.master.messages.get('HEARTBEAT') is not None:
+            m = self.master.messages.get('HEARTBEAT')
+            if m is not None:
+                self.vehicle_type = m.type
                 self.check()
                 self.done_heartbeat_check = True