From 7618241be438a799db0160762f290bafbaa193e2 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 21 Apr 2021 10:35:06 +0900
Subject: [PATCH] Rover: auto defaults to stop or loiter submode

---
 Rover/mode_auto.cpp | 14 +++++++++-----
 1 file changed, 9 insertions(+), 5 deletions(-)

diff --git a/Rover/mode_auto.cpp b/Rover/mode_auto.cpp
index 3e77d865a9..b530743e28 100644
--- a/Rover/mode_auto.cpp
+++ b/Rover/mode_auto.cpp
@@ -11,11 +11,6 @@ bool ModeAuto::_enter()
         return false;
     }
 
-    // init location target
-    if (!g2.wp_nav.set_desired_location(rover.current_loc)) {
-        return false;
-    }
-
     // initialise waypoint speed
     g2.wp_nav.set_desired_speed_to_default();
 
@@ -25,6 +20,15 @@ bool ModeAuto::_enter()
     // clear guided limits
     rover.mode_guided.limit_clear();
 
+    // initialise submode to stop or loiter
+    if (rover.is_boat()) {
+        if (!start_loiter()) {
+            start_stop();
+        }
+    } else {
+        start_stop();
+    }
+
     // restart mission processing
     mission.start_or_resume();
     return true;