From fe43ae538fcb04fb967d0a1bddcd352158e01a33 Mon Sep 17 00:00:00 2001
From: Michael Day <mday299@yahoo.com>
Date: Fri, 17 Oct 2014 10:35:05 -0700
Subject: [PATCH] Plane: Added support for MAV_CMD_DO_LAND_START

---
 ArduPlane/GCS_Mavlink.pde    | 13 +++++++++++++
 ArduPlane/commands_logic.pde |  1 +
 2 files changed, 14 insertions(+)

diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 8a7ffe2175..05d70b5817 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -1109,6 +1109,19 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             }
             break;
 
+        case MAV_CMD_DO_LAND_START:
+            result = MAV_RESULT_FAILED;
+            //no reason to AUTO land in MANUAL mode.
+            if (control_mode == MANUAL) {
+                break;
+            }
+
+            //attempt to switch to next DO_LAND_START command in the mission
+            if (mission.jump_to_landing_sequence()) {
+                result = MAV_RESULT_ACCEPTED;
+            }
+            break;
+
         case MAV_CMD_DO_FENCE_ENABLE:
             result = MAV_RESULT_ACCEPTED;
             
diff --git a/ArduPlane/commands_logic.pde b/ArduPlane/commands_logic.pde
index bcc946edb1..c06be0aaea 100644
--- a/ArduPlane/commands_logic.pde
+++ b/ArduPlane/commands_logic.pde
@@ -233,6 +233,7 @@ static bool verify_command(const AP_Mission::Mission_Command& cmd)        // Ret
     case MAV_CMD_DO_MOUNT_CONFIGURE:
     case MAV_CMD_DO_MOUNT_CONTROL:
     case MAV_CMD_DO_INVERTED_FLIGHT:
+    case MAV_CMD_DO_LAND_START:
         return true;
 
     default: