autotest: proper FenceMargin test

Author: andyp1per

Tools/autotest/arducopter.py

@@ -1914,7 +1914,7 @@ def FenceMargin(self, timeout=180):
         self.set_parameters({
             "FENCE_ENABLE": 1,
             "FENCE_TYPE": 6,    # polygon and circle fences
-            "FENCE_MARGIN" : 20,
+            "FENCE_MARGIN" : 30,
             "FENCE_RADIUS" : 150,
             "AVOID_ENABLE": 0,
             "FENCE_OPTIONS": 4
@@ -1928,6 +1928,9 @@ def FenceMargin(self, timeout=180):
 
         # 110m polyfence
         home_loc = self.mav.location()
+        radius = self.get_parameter("FENCE_RADIUS")
+        self.mavproxy.send("map circle %f %f %f green\n" % (home_loc.lat, home_loc.lng, radius))
+
         locs = [
             self.offset_location_ne(home_loc, -110, -110),
             self.offset_location_ne(home_loc, 110, -110),
@@ -1951,8 +1954,9 @@ def FenceMargin(self, timeout=180):
         self.progress("flying forward (east) until we hit fence")
         pitching_forward = True
         self.set_rc(2, 1100)
+        self.wait_statustext("Polygon fence outside margin")
 
-        self.wait_statustext("Circle fence outside margin")
+        self.wait_statustext("Circle and Polygon fences outside margin")
         self.progress("Waiting for fence breach")
         tstart = self.get_sim_time()
         while not self.mode_is("RTL"):