quadplane: mode_rtl: don't RTL on the ground

ArduPilot · May 3, 2024 · c612faf · c612faf
1 parent e5ea8f1
commit c612faf
Showing 1 changed file with 9 additions and 0 deletions.
diff --git a/ArduPlane/mode_rtl.cpp b/ArduPlane/mode_rtl.cpp
@@ -18,6 +18,15 @@ bool ModeRTL::_enter()
             return true;
         }
 
+        // treat RTL as QLAND if we are armed and idling in a q-mode on the ground
+        // (when disarmed, allow RTL mode, so pilots can test switches)
+        if (plane.arming.is_armed() &&
+                plane.control_mode->is_vtol_mode() &&
+                plane.quadplane.motors->get_desired_spool_state() == AP_Motors::DesiredSpoolState::GROUND_IDLE) {
+            plane.set_mode(plane.mode_qland, ModeReason::QLAND_INSTEAD_OF_RTL);
+            return true;
+        }
+
         // if Q_RTL_MODE is QRTL always, immediately switch to QRTL mode
         if (plane.quadplane.rtl_mode == QuadPlane::RTL_MODE::QRTL_ALWAYS) {
             plane.set_mode(plane.mode_qrtl, ModeReason::QRTL_INSTEAD_OF_RTL);