Plane: added Q_ENABLE=2 for starting AUTO in VTOL

ArduPlane/quadplane.cpp

@@ -6,8 +6,8 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
 
     // @Param: ENABLE
     // @DisplayName: Enable QuadPlane
-    // @Description: This enables QuadPlane functionality, assuming quad motors on outputs 5 to 8
-    // @Values: 0:Disable,1:Enable
+    // @Description: This enables QuadPlane functionality, assuming multicopter motors start on output 5. If this is set to 2 then when starting AUTO mode it will initially be in VTOL AUTO mode.
+    // @Values: 0:Disable,1:Enable,2:Enable VTOL AUTO
     // @User: Standard
     AP_GROUPINFO_FLAGS("ENABLE", 1, QuadPlane, enable, 0, AP_PARAM_FLAG_ENABLE),
 

ArduPlane/system.cpp

@@ -426,7 +426,11 @@ void Plane::set_mode(enum FlightMode mode)
 
     case AUTO:
         auto_throttle_mode = true;
-        auto_state.vtol_mode = false;
+        if (quadplane.available() && quadplane.enable == 2) {
+            auto_state.vtol_mode = true;
+        } else {
+            auto_state.vtol_mode = false;
+        }
         next_WP_loc = prev_WP_loc = current_loc;
         // start or resume the mission, based on MIS_AUTORESET
         mission.start_or_resume();