From 38a7bfd81f885e210fa0a1d05b1f07f15d261176 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 22 Apr 2016 20:20:45 +1000
Subject: [PATCH] Plane: added Q_ENABLE=2 for starting AUTO in VTOL

---
 ArduPlane/quadplane.cpp | 4 ++--
 ArduPlane/system.cpp    | 6 +++++-
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index c767e700b5..6dff088498 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -6,8 +6,8 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
 
     // @Param: ENABLE
     // @DisplayName: Enable QuadPlane
-    // @Description: This enables QuadPlane functionality, assuming quad motors on outputs 5 to 8
-    // @Values: 0:Disable,1:Enable
+    // @Description: This enables QuadPlane functionality, assuming multicopter motors start on output 5. If this is set to 2 then when starting AUTO mode it will initially be in VTOL AUTO mode.
+    // @Values: 0:Disable,1:Enable,2:Enable VTOL AUTO
     // @User: Standard
     AP_GROUPINFO_FLAGS("ENABLE", 1, QuadPlane, enable, 0, AP_PARAM_FLAG_ENABLE),
 
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 6afe0f6266..78396b875e 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -426,7 +426,11 @@ void Plane::set_mode(enum FlightMode mode)
 
     case AUTO:
         auto_throttle_mode = true;
-        auto_state.vtol_mode = false;
+        if (quadplane.available() && quadplane.enable == 2) {
+            auto_state.vtol_mode = true;
+        } else {
+            auto_state.vtol_mode = false;
+        }
         next_WP_loc = prev_WP_loc = current_loc;
         // start or resume the mission, based on MIS_AUTORESET
         mission.start_or_resume();