Added MIS_OPTIONS bit for continue after land

ArduCopter/mode_auto.cpp

@@ -1521,6 +1521,16 @@ bool ModeAuto::verify_land()
         case State::Descending:
             // rely on THROTTLE_LAND mode to correctly update landing status
             retval = copter.ap.land_complete && (motors->get_spool_state() == AP_Motors::SpoolState::GROUND_IDLE);
+            if (retval && !mission.continue_after_land() && copter.motors->armed()) {
+                /*
+                  we want to stop mission processing on land
+                  completion. Disarm now, then return false. This
+                  leaves mission state machine in the current NAV_LAND
+                  mission item. After disarming the mission will reset
+                */
+                copter.arming.disarm(AP_Arming::Method::LANDED);
+                retval = false;
+            }
             break;
 
         default:

ArduPlane/quadplane.cpp

@@ -2781,19 +2781,26 @@ bool QuadPlane::land_detector(uint32_t timeout_ms)
 /*
   check if a landing is complete
  */
-void QuadPlane::check_land_complete(void)
+bool QuadPlane::check_land_complete(void)
 {
     if (poscontrol.state != QPOS_LAND_FINAL) {
         // only apply to final landing phase
-        return;
+        return false;
     }
     if (land_detector(4000)) {
-        plane.arming.disarm(AP_Arming::Method::LANDED);
         poscontrol.state = QPOS_LAND_COMPLETE;
         gcs().send_text(MAV_SEVERITY_INFO,"Land complete");
         // reload target airspeed which could have been modified by the mission
         plane.aparm.airspeed_cruise_cm.load();
+        if (plane.control_mode != &plane.mode_auto ||
+            !plane.mission.continue_after_land()) {
+            // disarm on land unless we have MIS_OPTIONS setup to
+            // continue after land in AUTO
+            plane.arming.disarm(AP_Arming::Method::LANDED);
+        }
+        return true;
     }
+    return false;
 }
 
 
@@ -2858,7 +2865,10 @@ bool QuadPlane::verify_vtol_land(void)
         gcs().send_text(MAV_SEVERITY_INFO,"Land final started");
     }
 
-    check_land_complete();
+    if (check_land_complete() && plane.mission.continue_after_land()) {
+        gcs().send_text(MAV_SEVERITY_INFO,"Mission continue");
+        return true;
+    }
     return false;
 }
 

ArduPlane/quadplane.h

@@ -235,7 +235,7 @@ class QuadPlane
     void init_loiter(void);
     void init_qland(void);
     void control_loiter(void);
-    void check_land_complete(void);
+    bool check_land_complete(void);
     bool land_detector(uint32_t timeout_ms);
     bool check_land_final(void);
 

libraries/AP_Landing/AP_Landing_Slope.cpp

@@ -89,12 +89,13 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
     const bool below_flare_sec = (flare_sec > 0 && height <= sink_rate * flare_sec);
     const bool probably_crashed = (aparm.crash_detection_enable && fabsf(sink_rate) < 0.2f && !is_flying);
 
+    const AP_GPS &gps = AP::gps();
+
     if ((on_approach_stage && below_flare_alt) ||
         (on_approach_stage && below_flare_sec && (wp_proportion > 0.5)) ||
         (!rangefinder_state_in_range && wp_proportion >= 1) ||
         probably_crashed) {
 
-        const AP_GPS &gps = AP::gps();
         if (type_slope_stage != SLOPE_STAGE_FINAL) {
             type_slope_flags.post_stats = true;
             if (is_flying && (AP_HAL::millis()-last_flying_ms) > 3000) {
@@ -156,6 +157,17 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
         disarm_if_autoland_complete_fn();
     }
 
+    if (mission.continue_after_land() &&
+        type_slope_stage == SLOPE_STAGE_FINAL &&
+        gps.status() >= AP_GPS::GPS_OK_FIX_3D &&
+        gps.ground_speed() < 1) {
+        /*
+          user has requested to continue with mission after a
+          landing. Return true to allow for continue
+         */
+        return true;
+    }
+
     /*
       we return false as a landing mission item never completes
 

libraries/AP_Mission/AP_Mission.cpp

@@ -27,7 +27,7 @@ const AP_Param::GroupInfo AP_Mission::var_info[] = {
     // @Param: OPTIONS
     // @DisplayName: Mission options bitmask
     // @Description: Bitmask of what options to use in missions.
-    // @Bitmask: 0:Clear Mission on reboot, 1:Use distance to land calc on battery failsafe
+    // @Bitmask: 0:Clear Mission on reboot, 1:Use distance to land calc on battery failsafe,2:ContinueAfterLand
     // @User: Advanced
     AP_GROUPINFO("OPTIONS",  2, AP_Mission, _options, AP_MISSION_OPTIONS_DEFAULT),
 

libraries/AP_Mission/AP_Mission.h

@@ -39,6 +39,7 @@
 #define AP_MISSION_OPTIONS_DEFAULT          0       // Do not clear the mission when rebooting
 #define AP_MISSION_MASK_MISSION_CLEAR       (1<<0)  // If set then Clear the mission on boot
 #define AP_MISSION_MASK_DIST_TO_LAND_CALC   (1<<1)  // Allow distance to best landing calculation to be run on failsafe
+#define AP_MISSION_MASK_CONTINUE_AFTER_LAND (1<<2)  // Allow mission to continue after land
 
 #define AP_MISSION_MAX_WP_HISTORY           7       // The maximum number of previous wp commands that will be stored from the active missions history
 #define LAST_WP_PASSED (AP_MISSION_MAX_WP_HISTORY-2)
@@ -547,6 +548,15 @@ class AP_Mission
     // reset the mission history to prevent recalling previous mission histories when restarting missions.
     void reset_wp_history(void);
 
+    /*
+      return true if MIS_OPTIONS is set to allow continue of mission
+      logic after a land. If this is false then after a landing is
+      complete the vehicle should disarm and mission logic should stop
+     */
+    bool continue_after_land(void) const {
+        return (_options.get() & AP_MISSION_MASK_CONTINUE_AFTER_LAND) != 0;
+    }
+
     // user settable parameters
     static const struct AP_Param::GroupInfo var_info[];