Plane: Fly a planned abort sequence if available

ArduPlane/GCS_Mavlink.cpp

@@ -952,21 +952,38 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
         return MAV_RESULT_FAILED;
 
     case MAV_CMD_DO_GO_AROUND:
-        if (plane.flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {
-            // Initiate an aborted landing. This will trigger a pitch-up and
-            // climb-out to a safe altitude holding heading then one of the
-            // following actions will occur, check for in this order:
-            // - If MAV_CMD_CONTINUE_AND_CHANGE_ALT is next command in mission,
-            //      increment mission index to execute it
-            // - else if DO_LAND_START is available, jump to it
-            // - else decrement the mission index to repeat the landing approach
+        {
+            uint16_t mission_id = plane.mission.get_current_nav_cmd().id;
+            bool is_in_landing = (plane.flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) ||
+                                 (mission_id == MAV_CMD_NAV_LAND) ||
+                                 (mission_id == MAV_CMD_NAV_VTOL_LAND);
+            if (is_in_landing) {
+                // fly a user planned abort pattern if available
+                if (plane.mission.jump_to_abort_landing_sequence()) {
+                    return MAV_RESULT_ACCEPTED;
+                }
 
-            if (!is_zero(packet.param1)) {
-                plane.auto_state.takeoff_altitude_rel_cm = packet.param1 * 100;
-            }
-            if (plane.landing.request_go_around()) {
-                plane.auto_state.next_wp_crosstrack = false;
-                return MAV_RESULT_ACCEPTED;
+                // only fly a fixed wing abort if we aren't doing quadplane stuff, or potentially
+                // shooting a quadplane approach
+                if ((!plane.quadplane.available()) ||
+                    ((!plane.quadplane.in_vtol_auto()) &&
+                     (!(plane.quadplane.options & QuadPlane::OPTION_MISSION_LAND_FW_APPROACH)))) {
+                    // Initiate an aborted landing. This will trigger a pitch-up and
+                    // climb-out to a safe altitude holding heading then one of the
+                    // following actions will occur, check for in this order:
+                    // - If MAV_CMD_CONTINUE_AND_CHANGE_ALT is next command in mission,
+                    //      increment mission index to execute it
+                    // - else if DO_LAND_START is available, jump to it
+                    // - else decrement the mission index to repeat the landing approach
+
+                    if (!is_zero(packet.param1)) {
+                        plane.auto_state.takeoff_altitude_rel_cm = packet.param1 * 100;
+                    }
+                    if (plane.landing.request_go_around()) {
+                        plane.auto_state.next_wp_crosstrack = false;
+                        return MAV_RESULT_ACCEPTED;
+                    }
+                }
             }
         }
         return MAV_RESULT_FAILED;