diff --git a/libraries/AC_Fence/AC_Fence.cpp b/libraries/AC_Fence/AC_Fence.cpp
index 743877cc1e7f83..9849cca06554b5 100644
--- a/libraries/AC_Fence/AC_Fence.cpp
+++ b/libraries/AC_Fence/AC_Fence.cpp
@@ -429,6 +429,16 @@ bool AC_Fence::pre_arm_check(char *failure_msg, const uint8_t failure_msg_len) c
         hal.util->snprintf(failure_msg, failure_msg_len, "Fences enabled, but none selected");
         return false;
     }
+    
+    // if AUTOENABLE = 1 or 2 warn now, but fail in a later release
+    static uint8_t i = 0 ;
+    i++;
+    if (i > 60) {
+        if (_auto_enabled == 1 or _auto_enabled == 2) {
+            GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "FENCE_AUTOENABLE set to 1 or 2, will be deprecated next release, use 0 or 3");
+            i = 0;
+        }
+    }
 
     // if not enabled or not fence set-up always return true
     if ((!enabled() && !_auto_enabled) || !_configured_fences) {