From defe800745f31c29f198c11f207d8a31aff29845 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 17 May 2022 08:10:29 +1000
Subject: [PATCH] Copter: allow VTOL_TAKEOFF and VTOL_LAND as synonyms

this allows is_takeoff_next() to be in common, and reduces confusion
if user selects VTOL_TAKEOFF in a GCS mission editor
---
 ArduCopter/GCS_Mavlink.cpp | 2 ++
 ArduCopter/mode_auto.cpp   | 6 ++++++
 2 files changed, 8 insertions(+)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index aebfc4d55b..0cdfea1785 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -743,6 +743,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
 {
     switch(packet.command) {
 
+    case MAV_CMD_NAV_VTOL_TAKEOFF:
     case MAV_CMD_NAV_TAKEOFF: {
         // param3 : horizontal navigation by pilot acceptable
         // param4 : yaw angle   (not supported)
@@ -778,6 +779,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
         }
         return MAV_RESULT_ACCEPTED;
 
+    case MAV_CMD_NAV_VTOL_LAND:
     case MAV_CMD_NAV_LAND:
         if (!copter.set_mode(Mode::Number::LAND, ModeReason::GCS_COMMAND)) {
             return MAV_RESULT_FAILED;
diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index 437e38b600..fab0ba8b58 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -528,6 +528,7 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
     ///
     /// navigation commands
     ///
+    case MAV_CMD_NAV_VTOL_TAKEOFF:
     case MAV_CMD_NAV_TAKEOFF:                   // 22
         do_takeoff(cmd);
         break;
@@ -536,6 +537,7 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
         do_nav_wp(cmd);
         break;
 
+    case MAV_CMD_NAV_VTOL_LAND:
     case MAV_CMD_NAV_LAND:              // 21 LAND to Waypoint
         do_land(cmd);
         break;
@@ -764,6 +766,7 @@ bool ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
     //
     // navigation commands
     //
+    case MAV_CMD_NAV_VTOL_TAKEOFF:
     case MAV_CMD_NAV_TAKEOFF:
         cmd_complete = verify_takeoff();
         break;
@@ -772,6 +775,7 @@ bool ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
         cmd_complete = verify_nav_wp(cmd);
         break;
 
+    case MAV_CMD_NAV_VTOL_LAND:
     case MAV_CMD_NAV_LAND:
         cmd_complete = verify_land();
         break;
@@ -1286,10 +1290,12 @@ bool ModeAuto::set_next_wp(const AP_Mission::Mission_Command& current_cmd, const
         get_spline_from_cmd(next_cmd, default_loc, next_dest_loc, next_next_dest_loc, next_next_dest_loc_is_spline);
         return wp_nav->set_spline_destination_next_loc(next_dest_loc, next_next_dest_loc, next_next_dest_loc_is_spline);
     }
+    case MAV_CMD_NAV_VTOL_LAND:
     case MAV_CMD_NAV_LAND:
         // stop because we may change between rel,abs and terrain alt types
     case MAV_CMD_NAV_LOITER_TURNS:
     case MAV_CMD_NAV_RETURN_TO_LAUNCH:
+    case MAV_CMD_NAV_VTOL_TAKEOFF:
     case MAV_CMD_NAV_TAKEOFF:
         // always stop for RTL and takeoff commands
     default: