From c4ab7caa33f5a727ec43f67cedd122124cccd743 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <tom.pittenger@krausaerospace.com>
Date: Mon, 14 Sep 2020 19:27:08 -0700
Subject: [PATCH] Plane: add reverse_thrust option when in landing pattern

---
 ArduPlane/defines.h          | 1 +
 ArduPlane/reverse_thrust.cpp | 4 ++++
 2 files changed, 5 insertions(+)

diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h
index d838116f76..112b0c7145 100644
--- a/ArduPlane/defines.h
+++ b/ArduPlane/defines.h
@@ -144,6 +144,7 @@ enum {
     USE_REVERSE_THRUST_CRUISE                   = (1<<8),
     USE_REVERSE_THRUST_FBWB                     = (1<<9),
     USE_REVERSE_THRUST_GUIDED                   = (1<<10),
+    USE_REVERSE_THRUST_AUTO_LANDING_PATTERN     = (1<<11),
 };
 
 enum FlightOptions {
diff --git a/ArduPlane/reverse_thrust.cpp b/ArduPlane/reverse_thrust.cpp
index c0c2acd2c8..d81f67e157 100644
--- a/ArduPlane/reverse_thrust.cpp
+++ b/ArduPlane/reverse_thrust.cpp
@@ -61,6 +61,10 @@ bool Plane::allow_reverse_thrust(void) const
         allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_WAYPOINT) &&
                     (nav_cmd == MAV_CMD_NAV_WAYPOINT ||
                      nav_cmd == MAV_CMD_NAV_SPLINE_WAYPOINT);
+
+        // we are on a landing pattern
+        allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_LANDING_PATTERN) &&
+                mission.get_in_landing_sequence_flag();
         }
         break;