diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 8cbe0e35b9da16..54364aae29c35b 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -1476,7 +1476,7 @@ def HorizontalFence(self, timeout=180):
         self.load_fence("fence-in-middle-of-nowhere.txt")
 
         self.delay_sim_time(5) # let fence check run so it loads-from-eeprom
-        self.assert_prearm_failure("vehicle outside fence")
+        self.assert_prearm_failure("vehicle outside Polygon fence")
         self.progress("Failed to arm outside fence (good!)")
         self.clear_fence()
         self.delay_sim_time(5) # let fence breach clear
@@ -1486,7 +1486,7 @@ def HorizontalFence(self, timeout=180):
         self.start_subtest("ensure we can't arm with bad radius")
         self.context_push()
         self.set_parameter("FENCE_RADIUS", -1)
-        self.assert_prearm_failure("Invalid FENCE_RADIUS value")
+        self.assert_prearm_failure("Invalid Circle FENCE_RADIUS value")
         self.context_pop()
         self.progress("Failed to arm with bad radius")
         self.drain_mav()
@@ -1704,14 +1704,14 @@ def FenceFloorEnabledLanding(self):
             "AVOID_ENABLE": 0,
             "FENCE_ENABLE" : 1,
             "FENCE_TYPE": 15,
-            "FENCE_ALT_MIN": 10,
-            "FENCE_ALT_MAX": 20,
+            "FENCE_ALT_MIN": 20,
+            "FENCE_ALT_MAX": 30,
         })
 
         self.change_mode("GUIDED")
         self.wait_ready_to_arm()
         self.arm_vehicle()
-        self.user_takeoff(alt_min=15)
+        self.user_takeoff(alt_min=25)
 
         # Check fence is enabled
         self.do_fence_enable()
@@ -1723,8 +1723,19 @@ def FenceFloorEnabledLanding(self):
         self.set_rc(3, 1800)
 
         self.wait_mode('RTL', timeout=120)
+        # center throttle
+        self.set_rc(3, 1500)
 
-        self.wait_landed_and_disarmed()
+        # wait until we are below the fence floor and re-enter loiter
+        self.wait_altitude(5, 15, relative=True)
+        self.change_mode('LOITER')
+        # wait for manual recovery to expire
+        self.delay_sim_time(15)
+
+        # lower throttle and try and land
+        self.set_rc(3, 1300)
+        self.wait_altitude(0, 2, relative=True)
+        self.wait_disarmed()
         self.assert_fence_enabled()
 
         # Assert fence is not healthy since it was enabled manually
diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index 8c34e42e5207fc..04ba3da9b821de 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -6864,10 +6864,10 @@ def MissionPolyEnabledPreArm(self):
             ]
         )
 
-        self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False)
+        self.assert_prearm_failure('vehicle outside Polygon fence', other_prearm_failures_fatal=False)
         self.reboot_sitl()
 
-        self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False, timeout=120)
+        self.assert_prearm_failure('vehicle outside Polygon fence', other_prearm_failures_fatal=False, timeout=120)
 
         self.progress("Ensure we can arm when a polyfence fence is cleared when we've previously been in breach")
         self.clear_fence()
@@ -6885,7 +6885,7 @@ def MissionPolyEnabledPreArm(self):
             ]
         )
         self.reboot_sitl()
-        self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False, timeout=120)
+        self.assert_prearm_failure('vehicle outside Polygon fence', other_prearm_failures_fatal=False, timeout=120)
         self.clear_fence()
         self.wait_ready_to_arm()
 
@@ -6901,11 +6901,11 @@ def MissionPolyEnabledPreArm(self):
                 ]
             ]
         )
-        self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False, timeout=120)
+        self.assert_prearm_failure('vehicle outside Polygon fence', other_prearm_failures_fatal=False, timeout=120)
         self.set_parameter('FENCE_TYPE', 2)
         self.wait_ready_to_arm()
         self.set_parameter('FENCE_TYPE', 6)
-        self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False, timeout=120)
+        self.assert_prearm_failure('vehicle outside Polygon fence', other_prearm_failures_fatal=False, timeout=120)
 
     def OpticalFlow(self):
         '''lightly test OpticalFlow'''