From 6e3a2663bff10d6d7b532db8031c9de04f67dcb5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 12 Mar 2022 17:53:58 +1100
Subject: [PATCH] Plane: check that RTL_AUTOLAND is set if using DO_LAND_START

---
 ArduPlane/AP_Arming.cpp | 13 +++++++++++++
 ArduPlane/AP_Arming.h   |  1 +
 2 files changed, 14 insertions(+)

diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
index f3d9d93f5f..60d5f7f3b3 100644
--- a/ArduPlane/AP_Arming.cpp
+++ b/ArduPlane/AP_Arming.cpp
@@ -361,3 +361,16 @@ void AP_Arming_Plane::update_soft_armed()
     }
 }
 
+/*
+  extra plane mission checks
+ */
+bool AP_Arming_Plane::mission_checks(bool report)
+{
+    // base checks
+    bool ret = AP_Arming::mission_checks(report);
+    if (plane.mission.get_landing_sequence_start() > 0 && plane.g.rtl_autoland.get() == 0) {
+        ret = false;
+        check_failed(ARMING_CHECK_MISSION, report, "DO_LAND_START set and RTL_AUTOLAND disabled");
+    }
+    return ret;
+}
diff --git a/ArduPlane/AP_Arming.h b/ArduPlane/AP_Arming.h
index 02239458d3..5f5051e6f1 100644
--- a/ArduPlane/AP_Arming.h
+++ b/ArduPlane/AP_Arming.h
@@ -34,6 +34,7 @@ protected:
     bool ins_checks(bool report) override;
 
     bool quadplane_checks(bool display_failure);
+    bool mission_checks(bool report) override;
 
 private:
     void change_arm_state(void);