Plane: Fly a planned abort sequence if available

ArduPlane/GCS_Mavlink.cpp

@@ -952,7 +952,22 @@ 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) {
+        {
+            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;
+                }
+
+                // 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:
@@ -969,6 +984,8 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
                         return MAV_RESULT_ACCEPTED;
                     }
                 }
+            }
+        }
         return MAV_RESULT_FAILED;
 
     case MAV_CMD_DO_FENCE_ENABLE: