From ffc2aeee326dda261fc1d9faef2ffdb68c424a75 Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Wed, 30 Aug 2017 12:32:00 -0700
Subject: [PATCH] Copter: Support landing flight termination

---
 ArduCopter/afs_copter.cpp | 28 ++++++++++++++++------------
 ArduCopter/defines.h      |  1 +
 2 files changed, 17 insertions(+), 12 deletions(-)

diff --git a/ArduCopter/afs_copter.cpp b/ArduCopter/afs_copter.cpp
index 27330a6513..c88467918e 100644
--- a/ArduCopter/afs_copter.cpp
+++ b/ArduCopter/afs_copter.cpp
@@ -17,20 +17,24 @@ AP_AdvancedFailsafe_Copter::AP_AdvancedFailsafe_Copter(AP_Mission &_mission, AP_
  */
 void AP_AdvancedFailsafe_Copter::terminate_vehicle(void)
 {
-    // stop motors
-    copter.motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
-    copter.motors->output();
+    if (_terminate_action == TERMINATE_ACTION_LAND) {
+        copter.set_mode(LAND, MODE_REASON_TERMINATE);
+    } else {
+        // stop motors
+        copter.motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
+        copter.motors->output();
 
-    // disarm as well
-    copter.init_disarm_motors();
+        // disarm as well
+        copter.init_disarm_motors();
     
-    // and set all aux channels
-    SRV_Channels::set_output_limit(SRV_Channel::k_heli_rsc, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
-    SRV_Channels::set_output_limit(SRV_Channel::k_heli_tail_rsc, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
-    SRV_Channels::set_output_limit(SRV_Channel::k_engine_run_enable, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
-    SRV_Channels::set_output_limit(SRV_Channel::k_ignition, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
-    SRV_Channels::set_output_limit(SRV_Channel::k_none, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
-    SRV_Channels::set_output_limit(SRV_Channel::k_manual, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+        // and set all aux channels
+        SRV_Channels::set_output_limit(SRV_Channel::k_heli_rsc, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+        SRV_Channels::set_output_limit(SRV_Channel::k_heli_tail_rsc, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+        SRV_Channels::set_output_limit(SRV_Channel::k_engine_run_enable, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+        SRV_Channels::set_output_limit(SRV_Channel::k_ignition, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+        SRV_Channels::set_output_limit(SRV_Channel::k_none, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+        SRV_Channels::set_output_limit(SRV_Channel::k_manual, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
+    }
 
     SRV_Channels::output_ch_all();
 }
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index fce0854001..04aa1510dd 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -124,6 +124,7 @@ enum mode_reason_t {
     MODE_REASON_AVOIDANCE,
     MODE_REASON_AVOIDANCE_RECOVERY,
     MODE_REASON_THROW_COMPLETE,
+    MODE_REASON_TERMINATE,
 };
 
 // Tuning enumeration