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Copter: implement disarm on land based on MIS_OPTIONS
only continue with mission if MIS_OPTIONS bit is set
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@ -1521,6 +1521,16 @@ bool ModeAuto::verify_land()
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case State::Descending:
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// rely on THROTTLE_LAND mode to correctly update landing status
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retval = copter.ap.land_complete && (motors->get_spool_state() == AP_Motors::SpoolState::GROUND_IDLE);
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if (retval && !mission.continue_after_land() && copter.motors->armed()) {
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/*
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we want to stop mission processing on land
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completion. Disarm now, then return false. This
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leaves mission state machine in the current NAV_LAND
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mission item. After disarming the mission will reset
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*/
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copter.arming.disarm(AP_Arming::Method::LANDED);
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retval = false;
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}
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break;
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default:
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