Plane: option to immediately climb in AUTO mode (not doing glide slope)

add comment in Parameters.cpp

Update ArduPlane/altitude.cpp

Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>

clarification in FLIGHT_OPTIONS description

change the comment

param comment change

Update ArduPlane/Parameters.cpp

Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>

ArduPlane/Parameters.cpp

@@ -1096,6 +1096,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Bitmask: 11: Disable suppression of fixed wing rate gains in ground mode
     // @Bitmask: 12: Enable FBWB style loiter altitude control
     // @Bitmask: 13: Indicate takeoff waiting for neutral rudder with flight control surfaces
+    // @Bitmask: 14: In AUTO - climb to next waypoint altitude immediately instead of linear climb
     // @User: Advanced
     AP_GROUPINFO("FLIGHT_OPTIONS", 13, ParametersG2, flight_options, 0),
 

ArduPlane/altitude.cpp

@@ -81,6 +81,13 @@ void Plane::setup_glide_slope(void)
         break;
 
     case Mode::Number::AUTO:
+
+        //climb without doing glide slope if option is enabled
+        if (!above_location_current(next_WP_loc) && plane.flight_option_enabled(FlightOptions::IMMEDIATE_CLIMB_IN_AUTO)) {
+            reset_offset_altitude();
+            break;
+        }
+
         // we only do glide slide handling in AUTO when above 20m or
         // when descending. The 20 meter threshold is arbitrary, and
         // is basically to prevent situations where we try to slowly

ArduPlane/defines.h

@@ -168,6 +168,7 @@ enum FlightOptions {
     DISABLE_GROUND_PID_SUPPRESSION = (1<<11),
     ENABLE_LOITER_ALT_CONTROL = (1<<12),
     INDICATE_WAITING_FOR_RUDDER_NEUTRAL = (1<<13),
+    IMMEDIATE_CLIMB_IN_AUTO = (1<<14),
 };
 
 enum CrowFlapOptions {