Plane: Support added for DO_LAND_START FS fix

ArduPilot · Feb 17, 2020 · 3e2f6a1 · 3e2f6a1
1 parent ded5caf
commit 3e2f6a1
Showing 1 changed file with 10 additions and 0 deletions.
diff --git a/ArduPlane/events.cpp b/ArduPlane/events.cpp
@@ -164,6 +164,11 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
         case Failsafe_Action_Land:
             if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND && control_mode != &mode_qland) {
                 // never stop a landing if we were already committed
+                if(plane.mission.is_best_land_sequence()){
+                    // continue mission as it will reach a landing in less distance
+                    plane.mission.set_in_landing_sequence_flag(true);
+                    break;
+                }
                 if (plane.mission.jump_to_landing_sequence()) {
                     plane.set_mode(mode_auto, ModeReason::BATTERY_FAILSAFE);
                     break;
@@ -173,6 +178,11 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
         case Failsafe_Action_RTL:
             if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND && control_mode != &mode_qland && !quadplane.in_vtol_land_sequence()) {
                 // never stop a landing if we were already committed
+                if (g.rtl_autoland == 2 && plane.mission.is_best_land_sequence()) {
+                    // continue mission as it will reach a landing in less distance
+                    plane.mission.set_in_landing_sequence_flag(true);
+                    break;
+                }
                 set_mode(mode_rtl, ModeReason::BATTERY_FAILSAFE);
                 aparm.throttle_cruise.load();
             }