diff --git a/config/ardupilot_gps_denied.parm b/config/ardupilot_gps_denied.parm
index d1a7237..afb6f0e 100644
--- a/config/ardupilot_gps_denied.parm
+++ b/config/ardupilot_gps_denied.parm
@@ -12,8 +12,9 @@ GPS_TYPE 1            # Auto-detect
 # ====================
 # Geofence Settings
 # ====================
-# Safety cage - uses GPS for boundaries
-FENCE_ENABLE 1
+# Disabled for now - causes "fence requires position" errors
+# TODO: Re-enable after basic flight works
+FENCE_ENABLE 0
 FENCE_TYPE 3          # Alt + Circle
 FENCE_ACTION 2        # Land on breach
 FENCE_ALT_MAX 10      # Maximum altitude (meters)
diff --git a/src/autonomous_controller.py b/src/autonomous_controller.py
index 8fdb48b..9938fe7 100755
--- a/src/autonomous_controller.py
+++ b/src/autonomous_controller.py
@@ -193,14 +193,19 @@ class AutonomousController:
             if gps_ok and home_ok:
                 print("[CTRL] GPS and home ready!")
                 
-                # NOW enable geofence since we have position
-                print("[CTRL] Enabling geofence: Alt=10m, Radius=20m")
-                self.set_param("FENCE_ENABLE", 1)
-                self.set_param("FENCE_TYPE", 3)
-                self.set_param("FENCE_ACTION", 2)
-                self.set_param("FENCE_ALT_MAX", 10)
-                self.set_param("FENCE_RADIUS", 20)
-                time.sleep(1)
+                # Wait for EKF position estimate to be valid
+                print("[CTRL] Waiting for EKF position estimate...")
+                time.sleep(5)
+                
+                # Skip fence for now - causes "need position estimate" errors
+                # TODO: Re-enable fence after basic flight works
+                # print("[CTRL] Enabling geofence: Alt=10m, Radius=20m")
+                # self.set_param("FENCE_ENABLE", 1)
+                # self.set_param("FENCE_TYPE", 3)
+                # self.set_param("FENCE_ACTION", 2)
+                # self.set_param("FENCE_ALT_MAX", 10)
+                # self.set_param("FENCE_RADIUS", 20)
+                
                 return True
             
             elapsed = int(time.time() - start)