From a404693c7fc3cf3017b032112d910f5f585db207 Mon Sep 17 00:00:00 2001
From: CallanDaniel <callanrobertdaniel@gmail.com>
Date: Mon, 19 Feb 2024 11:20:00 +0200
Subject: [PATCH] Plane: QLAND if long failsafe on VTOL takeoff

---
 ArduPlane/events.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/ArduPlane/events.cpp b/ArduPlane/events.cpp
index f49814aca9..a699625779 100644
--- a/ArduPlane/events.cpp
+++ b/ArduPlane/events.cpp
@@ -175,6 +175,14 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
             // don't failsafe in a landing sequence
             break;
         }
+
+#if HAL_QUADPLANE_ENABLED
+        if (quadplane.in_vtol_takeoff()) {
+            set_mode(mode_qland, reason);
+            // QLAND if in VTOL takeoff
+            break;
+        }
+#endif
         FALLTHROUGH;
 
     case Mode::Number::AVOID_ADSB: