From db1c653cc68545fa440f0b535fff7611a136a5fc Mon Sep 17 00:00:00 2001
From: Shadow <proteyrus@gmail.com>
Date: Thu, 20 Feb 2020 20:25:54 +0300
Subject: [PATCH] Rover: Add manual mode to MIS_DONE_BEHAVIOR

---
 Rover/Parameters.cpp | 2 +-
 Rover/mode.h         | 3 ++-
 Rover/mode_auto.cpp  | 4 ++++
 3 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index 06050f933e..c4df2c6499 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -589,7 +589,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Param: MIS_DONE_BEHAVE
     // @DisplayName: Mission done behave
     // @Description: Behaviour after mission completes
-    // @Values: 0:Hold,1:Loiter,2:Acro
+    // @Values: 0:Hold,1:Loiter,2:Acro,3:Manual
     // @User: Standard
     AP_GROUPINFO("MIS_DONE_BEHAVE", 38, ParametersG2, mis_done_behave, 0),
 
diff --git a/Rover/mode.h b/Rover/mode.h
index 85973c3c2e..2819fa44ed 100644
--- a/Rover/mode.h
+++ b/Rover/mode.h
@@ -327,7 +327,8 @@ private:
     enum Mis_Done_Behave {
         MIS_DONE_BEHAVE_HOLD      = 0,
         MIS_DONE_BEHAVE_LOITER    = 1,
-        MIS_DONE_BEHAVE_ACRO      = 2
+        MIS_DONE_BEHAVE_ACRO      = 2,
+        MIS_DONE_BEHAVE_MANUAL    = 3
     };
 
     bool auto_triggered;        // true when auto has been triggered to start
diff --git a/Rover/mode_auto.cpp b/Rover/mode_auto.cpp
index 0ca48eacbc..5ba31e4c43 100644
--- a/Rover/mode_auto.cpp
+++ b/Rover/mode_auto.cpp
@@ -449,6 +449,10 @@ void ModeAuto::exit_mission()
         return;
     }
 
+    if (g2.mis_done_behave == MIS_DONE_BEHAVE_MANUAL && rover.set_mode(rover.mode_manual, ModeReason::MISSION_END)) {
+        return;
+    }
+
     start_stop();
 }