From 05bf329d81647c0d37351e02a01291b95bb66001 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <magicrub@gmail.com>
Date: Wed, 23 Jan 2019 08:12:01 -0800
Subject: [PATCH] Plane: ignore battery failsafe during landing

fixes https://github.com/ArduPilot/ardupilot/issues/10320
---
 ArduPlane/events.cpp | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/ArduPlane/events.cpp b/ArduPlane/events.cpp
index 9abb2a126b..ea19e1201f 100644
--- a/ArduPlane/events.cpp
+++ b/ArduPlane/events.cpp
@@ -150,26 +150,28 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
             }
             FALLTHROUGH;
         case Failsafe_Action_Land:
-            if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND || control_mode == QLAND) {
+            if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND && control_mode != QLAND) {
                 // never stop a landing if we were already committed
                 if (plane.mission.jump_to_landing_sequence()) {
                     plane.set_mode(AUTO, MODE_REASON_BATTERY_FAILSAFE);
                     break;
-                 }
+                }
             }
             FALLTHROUGH;
         case Failsafe_Action_RTL:
-            if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND || control_mode == QLAND ) {
+            if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND && control_mode != QLAND ) {
                 // never stop a landing if we were already committed
                 set_mode(RTL, MODE_REASON_BATTERY_FAILSAFE);
                 aparm.throttle_cruise.load();
             }
             break;
+
         case Failsafe_Action_Terminate:
             char battery_type_str[17];
             snprintf(battery_type_str, 17, "%s battery", type_str);
             afs.gcs_terminate(true, battery_type_str);
             break;
+
         case Failsafe_Action_None:
             // don't actually do anything, however we should still flag the system as having hit a failsafe
             // and ensure all appropriate flags are going off to the user