From c08af5ba19dfa012e539ddd984a292fb7f96b5ec Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Sat, 21 Dec 2024 06:49:01 -0600
Subject: [PATCH] use Qplane option to allow autoland and fix auto-flaps

---
 ArduPlane/ArduPlane.cpp     | 2 --
 ArduPlane/mode_autoland.cpp | 7 ++++---
 ArduPlane/quadplane.h       | 1 +
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 4325371c27..15c5dc6e7f 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -689,8 +689,6 @@ void Plane::update_flight_stage(void)
             // This prevents TECS from being stuck in the wrong stage if you switch from
             // AUTO to, say, FBWB during a landing, an aborted landing or takeoff.
             set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
-        } else  if (control_mode == &mode_autoland) {
-            set_flight_stage(AP_FixedWing::FlightStage::LAND);
         }
         return;
     }
diff --git a/ArduPlane/mode_autoland.cpp b/ArduPlane/mode_autoland.cpp
index 2150f690e4..a3931fb878 100644
--- a/ArduPlane/mode_autoland.cpp
+++ b/ArduPlane/mode_autoland.cpp
@@ -43,7 +43,7 @@ ModeAutoLand::ModeAutoLand() :
 }
 
 bool ModeAutoLand::_enter()
-{             
+{   
     //must be flying to enter
     if (!plane.is_flying()) { 
         gcs().send_text(MAV_SEVERITY_WARNING, "Must already be flying!"); 
@@ -52,8 +52,8 @@ bool ModeAutoLand::_enter()
     
     //takeoff direction must be set and must not be a quadplane, otherwise since flying switch to RTL so this can be used as FS action
 #if HAL_QUADPLANE_ENABLED
-    if (quadplane.available()) {
-        gcs().send_text(MAV_SEVERITY_WARNING, "AutoLand is fixed wing only mode"); 
+    if (quadplane.available() && !quadplane.option_is_set(QuadPlane::OPTION::ALLOW_FW_LAND)) {
+        gcs().send_text(MAV_SEVERITY_WARNING, "Option not set to allow fixed wing autoland"); 
         return false; 
     }
 #endif
@@ -105,6 +105,7 @@ void ModeAutoLand::navigate()
             plane.prev_WP_loc = plane.current_loc;
             plane.next_WP_loc = home_loc;
             plane.start_command(cmd);
+            plane.set_flight_stage(AP_FixedWing::FlightStage::LAND);
         }
         return;
     //otherwise keep flying the current command   
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index e4489fd0d1..b68c2c27c7 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -62,6 +62,7 @@ public:
     friend class ModeQAutotune;
     friend class ModeQAcro;
     friend class ModeLoiterAltQLand;
+    friend class ModeAutoLand;
     
     QuadPlane(AP_AHRS &_ahrs);