Plane: Quadplane: continue in mode loiter to Qland on failsafe, as with Qland

ArduPlane/events.cpp

@@ -70,9 +70,6 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype, ModeReason reaso
     case Mode::Number::AVOID_ADSB:
     case Mode::Number::GUIDED:
     case Mode::Number::LOITER:
-#if HAL_QUADPLANE_ENABLED
-    case Mode::Number::LOITER_ALT_QLAND:
-#endif
     case Mode::Number::THERMAL:
         if(g.fs_action_short != FS_ACTION_SHORT_BESTGUESS) {
             failsafe.saved_mode_number = control_mode->mode_number();
@@ -91,6 +88,7 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype, ModeReason reaso
 #if HAL_QUADPLANE_ENABLED
     case Mode::Number::QLAND:
     case Mode::Number::QRTL:
+    case Mode::Number::LOITER_ALT_QLAND:
 #endif
     case Mode::Number::INITIALISING:
         break;
@@ -117,9 +115,6 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
     case Mode::Number::TRAINING:
     case Mode::Number::CIRCLE:
     case Mode::Number::LOITER:
-#if HAL_QUADPLANE_ENABLED
-    case Mode::Number::LOITER_ALT_QLAND:
-#endif
     case Mode::Number::THERMAL:
         if(g.fs_action_long == FS_ACTION_LONG_PARACHUTE) {
 #if PARACHUTE == ENABLED
@@ -172,6 +167,7 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
 #if HAL_QUADPLANE_ENABLED
     case Mode::Number::QLAND:
     case Mode::Number::QRTL:
+    case Mode::Number::LOITER_ALT_QLAND:
 #endif
     case Mode::Number::TAKEOFF:
     case Mode::Number::INITIALISING:
@@ -223,7 +219,7 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
         case Failsafe_Action_Land: {
             bool already_landing = flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND;
 #if HAL_QUADPLANE_ENABLED
-            if (control_mode == &mode_qland) {
+            if (control_mode == &mode_qland || control_mode == &mode_lotier_qland) {
                 already_landing = true;
             }
 #endif
@@ -244,7 +240,7 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
         case Failsafe_Action_RTL: {
             bool already_landing = flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND;
 #if HAL_QUADPLANE_ENABLED
-            if (control_mode == &mode_qland ||
+            if (control_mode == &mode_qland || control_mode == &mode_lotier_qland ||
                 quadplane.in_vtol_land_sequence()) {
                 already_landing = true;
             }