Plane: added engine cut on land final in quadplane

ArduPlane/quadplane.cpp

@@ -314,6 +314,13 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("VFWD_ALT", 43, QuadPlane, vel_forward_alt_cutoff,  0),
 
+    // @Param: LAND_ICE_CUT
+    // @DisplayName: Cut IC engine on landing
+    // @Description: This controls stopping an internal combustion engine in the final landing stage of a VTOL. This is important for aircraft where the forward thrust engine may experience prop-strike if left running during landing. This requires the engine controls are enabled using the ICE_* parameters.
+    // @Values: 0:Disabled,1:Enabled
+    // @User: Standard
+    AP_GROUPINFO("LAND_ICE_CUT", 44, QuadPlane, land_icengine_cut,  1),
+    
     AP_GROUPEND
 };
 
@@ -1669,6 +1676,11 @@ bool QuadPlane::verify_vtol_land(void)
     if (poscontrol.state == QPOS_LAND_DESCEND && height_above_ground < land_final_alt) {
         poscontrol.state = QPOS_LAND_FINAL;
         pos_control->set_alt_target(inertial_nav.get_altitude());
+
+        // cut IC engine if enabled
+        if (land_icengine_cut != 0) {
+            plane.g2.ice_control.engine_control(0, 0, 0);
+        }
         plane.gcs_send_text(MAV_SEVERITY_INFO,"Land final started");
     }
 

ArduPlane/quadplane.h

@@ -225,6 +225,9 @@ private:
     AP_Int8 esc_calibration;
     void run_esc_calibration(void);
 
+    // ICEngine control on landing
+    AP_Int8 land_icengine_cut;
+    
     struct {
         AP_Float gain;
         float integrator;