Plane generalize Aux Switch VTOL abort for any plane abort landings

ArduPlane/ArduPlane.cpp

@@ -649,6 +649,56 @@ void Plane::disarm_if_autoland_complete()
     }
 }
 
+bool Plane::trigger_land_abort(const float climb_to_alt_m)
+{
+    if (plane.control_mode != &plane.mode_auto) {
+        return false;
+    }
+#if HAL_QUADPLANE_ENABLED
+    if (plane.quadplane.in_vtol_auto()) {
+        return quadplane.abort_landing();
+    }
+#endif
+
+    uint16_t mission_id = plane.mission.get_current_nav_cmd().id;
+    bool is_in_landing = (plane.flight_stage == AP_FixedWing::FlightStage::LAND) ||
+        plane.is_land_command(mission_id);
+    if (is_in_landing) {
+        // fly a user planned abort pattern if available
+        if (plane.mission.jump_to_abort_landing_sequence()) {
+            return true;
+        }
+
+        // only fly a fixed wing abort if we aren't doing quadplane stuff, or potentially
+        // shooting a quadplane approach
+#if HAL_QUADPLANE_ENABLED
+        const bool attempt_go_around =
+            (!plane.quadplane.available()) ||
+            ((!plane.quadplane.in_vtol_auto()) &&
+                (!plane.quadplane.landing_with_fixed_wing_spiral_approach()));
+#else
+        const bool attempt_go_around = true;
+#endif
+        if (attempt_go_around) {
+            // 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(climb_to_alt_m)) {
+                plane.auto_state.takeoff_altitude_rel_cm = climb_to_alt_m * 100;
+            }
+            if (plane.landing.request_go_around()) {
+                plane.auto_state.next_wp_crosstrack = false;
+                return true;
+            }
+        }
+    }
+    return false;
+}
 
 
 /*

ArduPlane/GCS_Mavlink.cpp

@@ -1036,46 +1036,7 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
         return MAV_RESULT_FAILED;
 
     case MAV_CMD_DO_GO_AROUND:
-        {
+        return plane.trigger_land_abort(packet.param1) ? MAV_RESULT_ACCEPTED : MAV_RESULT_FAILED;
-            uint16_t mission_id = plane.mission.get_current_nav_cmd().id;
-            bool is_in_landing = (plane.flight_stage == AP_FixedWing::FlightStage::LAND) ||
-                plane.is_land_command(mission_id);
-            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 HAL_QUADPLANE_ENABLED
-                const bool attempt_go_around =
-                    (!plane.quadplane.available()) ||
-                    ((!plane.quadplane.in_vtol_auto()) &&
-                     (!plane.quadplane.landing_with_fixed_wing_spiral_approach()));
-#else
-                const bool attempt_go_around = true;
-#endif
-                if (attempt_go_around) {
-                    // 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;
 
     case MAV_CMD_DO_AUTOTUNE_ENABLE:
         // param1 : enable/disable

ArduPlane/Plane.h

@@ -987,6 +987,7 @@ private:
 
     // ArduPlane.cpp
     void disarm_if_autoland_complete();
+    bool trigger_land_abort(const float climb_to_alt_m);
     void get_osd_roll_pitch_rad(float &roll, float &pitch) const override;
     float tecs_hgt_afe(void);
     void efi_update(void);

ArduPlane/RC_Channel.cpp

@@ -166,8 +166,8 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
     case AUX_FUNC::CRUISE:
 #if HAL_QUADPLANE_ENABLED
     case AUX_FUNC::ARMDISARM_AIRMODE:
-    case AUX_FUNC::AUTO_VTOL_LANDING_ABORT:
 #endif
+    case AUX_FUNC::PLANE_AUTO_LANDING_ABORT:
     case AUX_FUNC::TRIM_TO_CURRENT_SERVO_RC:
     case AUX_FUNC::EMERGENCY_LANDING_EN:
     case AUX_FUNC::FW_AUTOTUNE:
@@ -386,19 +386,18 @@ bool RC_Channel_Plane::do_aux_function(const aux_func_t ch_option, const AuxSwit
         }
         break;
     }
+#endif
 
-    case AUX_FUNC::AUTO_VTOL_LANDING_ABORT: {
+    case AUX_FUNC::PLANE_AUTO_LANDING_ABORT:
         switch(ch_flag) {
         case AuxSwitchPos::HIGH:
-            plane.quadplane.abort_landing();
+            IGNORE_RETURN(plane.trigger_land_abort(0));
             break;
         case AuxSwitchPos::MIDDLE:
         case AuxSwitchPos::LOW:
             break;
         }
         break;
-    }
-#endif
 
     case AUX_FUNC::TRIM_TO_CURRENT_SERVO_RC:
         if (ch_flag == AuxSwitchPos::HIGH) {