From 56b38135ea5a2dd756be81def93fff5080708469 Mon Sep 17 00:00:00 2001
From: George Zogopoulos <tailwhipx4@gmail.com>
Date: Fri, 27 Sep 2024 22:53:54 +0200
Subject: [PATCH] Plane: Added flight option IMMEDIATE_DESCEND_IN_AUTO

---
 ArduPlane/altitude.cpp | 5 +++++
 ArduPlane/defines.h    | 1 +
 2 files changed, 6 insertions(+)

diff --git a/ArduPlane/altitude.cpp b/ArduPlane/altitude.cpp
index c32f5802a81d6..18062d8d59b23 100644
--- a/ArduPlane/altitude.cpp
+++ b/ArduPlane/altitude.cpp
@@ -87,6 +87,11 @@ void Plane::setup_glide_slope(void)
             reset_offset_altitude();
             break;
         }
+        //descend without doing glide slope if option is enabled
+        if (above_location_current(next_WP_loc) && plane.flight_option_enabled(FlightOptions::IMMEDIATE_DESCEND_IN_AUTO)) {
+            reset_offset_altitude();
+            break;
+        }
 
         // we only do glide slide handling in AUTO when above 20m or
         // when descending. The 20 meter threshold is arbitrary, and
diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h
index b2939557adfdf..2e6c7f434111c 100644
--- a/ArduPlane/defines.h
+++ b/ArduPlane/defines.h
@@ -169,6 +169,7 @@ enum FlightOptions {
     ENABLE_LOITER_ALT_CONTROL = (1<<12),
     INDICATE_WAITING_FOR_RUDDER_NEUTRAL = (1<<13),
     IMMEDIATE_CLIMB_IN_AUTO = (1<<14),
+    IMMEDIATE_DESCEND_IN_AUTO = (1<<15),
 };
 
 enum CrowFlapOptions {