Copter: add LAND to aux switch

Fix aux switch AUTO and RTL so they resets flight mode if still in those
modes when switch brought low

ArduCopter/Parameters.pde

@@ -389,14 +389,14 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Param: CH7_OPT
     // @DisplayName: Channel 7 option
     // @Description: Select which function if performed when CH7 is above 1800 pwm
-    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune
+    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land
     // @User: Standard
     GSCALAR(ch7_option, "CH7_OPT",                  CH7_OPTION),
 
     // @Param: CH8_OPT
     // @DisplayName: Channel 8 option
     // @Description: Select which function if performed when CH8 is above 1800 pwm
-    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune
+    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land
     // @User: Standard
     GSCALAR(ch8_option, "CH8_OPT",                  CH8_OPTION),
 

ArduCopter/control_modes.pde

@@ -164,8 +164,8 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
                 // engage RTL (if not possible we remain in current flight mode)
                 set_mode(RTL);
             }else{
-                // disengage RTL to previous flight mode if we are currently in RTL or loiter
-                if (control_mode == RTL || control_mode == LOITER) {
+                // return to flight mode switch's flight mode if we are currently in RTL
+                if (control_mode == RTL) {
                     reset_control_switch();
                 }
             }
@@ -289,6 +289,11 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
         case AUX_SWITCH_AUTO:
             if (ch_flag == AUX_SWITCH_HIGH) {
                 set_mode(AUTO);
+            }else{
+                // return to flight mode switch's flight mode if we are currently in AUTO
+                if (control_mode == AUTO) {
+                    reset_control_switch();
+                }
             }
             break;
 
@@ -311,6 +316,17 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
             }
             break;
 #endif
+
+        case AUX_SWITCH_LAND:
+            if (ch_flag == AUX_SWITCH_HIGH) {
+                set_mode(LAND);
+            }else{
+                // return to flight mode switch's flight mode if we are currently in LAND
+                if (control_mode == LAND) {
+                    reset_control_switch();
+                }
+            }
+            break;
     }
 }
 

ArduCopter/defines.h

@@ -70,6 +70,7 @@
 #define AUX_SWITCH_SPRAYER          15      // enable/disable the crop sprayer
 #define AUX_SWITCH_AUTO             16      // change to auto flight mode
 #define AUX_SWITCH_AUTOTUNE         17      // auto tune
+#define AUX_SWITCH_LAND             18      // change to LAND flight mode
 
 // values used by the ap.ch7_opt and ap.ch8_opt flags
 #define AUX_SWITCH_LOW              0       // indicates auxiliar switch is in the low position (pwm <1200)