From 9f32bf93d1ffdeaa2bf2303f2ccc883c23d0d156 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 18 Oct 2014 12:36:49 +1100
Subject: [PATCH] Plane: switch to AUTO on a DO_LAND_START MAVLink command

---
 ArduPlane/GCS_Mavlink.pde | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 05d70b5817..d26b932425 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -1111,13 +1111,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
         case MAV_CMD_DO_LAND_START:
             result = MAV_RESULT_FAILED;
-            //no reason to AUTO land in MANUAL mode.
-            if (control_mode == MANUAL) {
-                break;
-            }
 
-            //attempt to switch to next DO_LAND_START command in the mission
+            // attempt to switch to next DO_LAND_START command in the mission
             if (mission.jump_to_landing_sequence()) {
+                set_mode(AUTO);
                 result = MAV_RESULT_ACCEPTED;
             }
             break;