Plane: Support added for DO_LAND_START FS fix

ArduPilot · Feb 4, 2020 · f40386d · f40386d
1 parent 560c757
commit f40386d
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/ArduPlane/events.cpp b/ArduPlane/events.cpp
@@ -162,7 +162,7 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
             }
             FALLTHROUGH;
         case Failsafe_Action_Land:
-            if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND && control_mode != &mode_qland) {
+            if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND && control_mode != &mode_qland && !plane.mission.is_best_land_sequence()) {
                 // never stop a landing if we were already committed
                 if (plane.mission.jump_to_landing_sequence()) {
                     plane.set_mode(mode_auto, ModeReason::BATTERY_FAILSAFE);
@@ -172,6 +172,10 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
             FALLTHROUGH;
         case Failsafe_Action_RTL:
             if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND && control_mode != &mode_qland && !quadplane.in_vtol_land_sequence()) {
+                if (g.rtl_autoland == 2 && plane.mission.is_best_land_sequence()) {
+                    // continue mission reaches a land in less distance
+                    break;
+                }
                 // never stop a landing if we were already committed
                 set_mode(mode_rtl, ModeReason::BATTERY_FAILSAFE);
                 aparm.throttle_cruise.load();