From e673bd8909549420ba8c94be633b7183aae48e9a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 4 Mar 2020 14:29:14 +1100
Subject: [PATCH] Copter: implement disarm on land based on MIS_OPTIONS

only continue with mission if MIS_OPTIONS bit is set
---
 ArduCopter/mode_auto.cpp | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index 36e387cee2..ad3d0aa2fc 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -1521,6 +1521,16 @@ bool ModeAuto::verify_land()
         case State::Descending:
             // rely on THROTTLE_LAND mode to correctly update landing status
             retval = copter.ap.land_complete && (motors->get_spool_state() == AP_Motors::SpoolState::GROUND_IDLE);
+            if (retval && !mission.continue_after_land() && copter.motors->armed()) {
+                /*
+                  we want to stop mission processing on land
+                  completion. Disarm now, then return false. This
+                  leaves mission state machine in the current NAV_LAND
+                  mission item. After disarming the mission will reset
+                */
+                copter.arming.disarm(AP_Arming::Method::LANDED);
+                retval = false;
+            }
             break;
 
         default: