Plane: Added flight option IMMEDIATE_DESCEND_IN_AUTO

ArduPilot · Sep 27, 2024 · 67c3b07 · 67c3b07
1 parent e57994f
commit 67c3b07
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diff --git a/ArduPlane/altitude.cpp b/ArduPlane/altitude.cpp
@@ -87,6 +87,11 @@ void Plane::setup_glide_slope(void)
             reset_offset_altitude();
             break;
         }
+        //descend without doing glide slope if option is enabled
+        if (above_location_current(next_WP_loc) && plane.flight_option_enabled(FlightOptions::IMMEDIATE_DESCEND_IN_AUTO)) {
+            reset_offset_altitude();
+            break;
+        }
 
         // we only do glide slide handling in AUTO when above 20m or
         // when descending. The 20 meter threshold is arbitrary, and

diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h
@@ -169,6 +169,7 @@ enum FlightOptions {
     ENABLE_LOITER_ALT_CONTROL = (1<<12),
     INDICATE_WAITING_FOR_RUDDER_NEUTRAL = (1<<13),
     IMMEDIATE_CLIMB_IN_AUTO = (1<<14),
+    IMMEDIATE_DESCEND_IN_AUTO = (1<<15),
 };
 
 enum CrowFlapOptions {