AP_Mission: skip aux function in determining if a takeoff

and reset landing sequenece flag on a takeoff command

libraries/AP_Mission/AP_Mission.cpp

@@ -167,6 +167,7 @@ bool AP_Mission::is_takeoff_next(uint16_t cmd_index)
             return true;
         // any of these are considered "skippable" when determining if
         // we "start with a takeoff command"
+        case MAV_CMD_DO_AUX_FUNCTION:
         case MAV_CMD_NAV_DELAY:
             continue;
         default:
@@ -338,6 +339,8 @@ bool AP_Mission::start_command(const Mission_Command& cmd)
     // check for landing related commands and set in_landing_sequence flag
     if (is_landing_type_cmd(cmd.id) || cmd.id == MAV_CMD_DO_LAND_START) {
         set_in_landing_sequence_flag(true);
+    } else if (is_takeoff_type_cmd(cmd.id)) {
+        set_in_landing_sequence_flag(false);
     }
 
     gcs().send_text(MAV_SEVERITY_INFO, "Mission: %u %s", cmd.index, cmd.type());
@@ -2318,6 +2321,18 @@ bool AP_Mission::is_landing_type_cmd(uint16_t id) const
     }
 }
 
+// check if command is a takeoff type command.
+bool AP_Mission::is_takeoff_type_cmd(uint16_t id) const
+{
+    switch (id) {
+    case MAV_CMD_NAV_TAKEOFF:
+    case MAV_CMD_NAV_VTOL_TAKEOFF:
+        return true;
+    default:
+        return false;
+    }
+}
+
 const char *AP_Mission::Mission_Command::type() const
 {
     switch (id) {

libraries/AP_Mission/AP_Mission.h

@@ -713,6 +713,9 @@ private:
     // check if command is a landing type command.  Asside the obvious, MAV_CMD_DO_PARACHUTE is considered a type of landing
     bool is_landing_type_cmd(uint16_t id) const;
 
+    // check if command is a takeoff type command.
+    bool is_takeoff_type_cmd(uint16_t id) const;
+
     // approximate the distance travelled to get to a landing.  DO_JUMP commands are observed in look forward.
     bool distance_to_landing(uint16_t index, float &tot_distance,Location current_loc);