From 69c488a0db417ba773585a7b77a5e99959c211b3 Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Tue, 31 Dec 2024 06:51:39 -0600
Subject: [PATCH] Add ArduPilot Plane AUTOLAND mode

---
 src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc | 4 ++++
 src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h  | 2 ++
 2 files changed, 6 insertions(+)

diff --git a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
index 4d230b46907..b356bd4a124 100644
--- a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
@@ -41,6 +41,8 @@ APMPlaneMode::APMPlaneMode(uint32_t mode, bool settable)
         { QAUTOTUNE,        "QuadPlane AutoTune" },
         { QACRO,            "QuadPlane Acro" },
         { THERMAL,          "Thermal"},
+        { LOITER2QLAND,     "QuadPlane LoitertoQLand"},
+        { AUTOLAND,         "AutoLand"},
     });
 }
 
@@ -71,6 +73,8 @@ ArduPlaneFirmwarePlugin::ArduPlaneFirmwarePlugin(void)
         APMPlaneMode(APMPlaneMode::QAUTOTUNE,       true),
         APMPlaneMode(APMPlaneMode::QACRO,           true),
         APMPlaneMode(APMPlaneMode::THERMAL,         true),
+        APMPlaneMode(APMPlaneMode::LOITER2QLAND,    true),
+        APMPlaneMode(APMPlaneMode::AUTOLAND,        true),
     });
 
     if (!_remapParamNameIntialized) {
diff --git a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
index 7bcfde20bec..910ac3f5d80 100644
--- a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
@@ -44,6 +44,8 @@ class APMPlaneMode: public APMCustomMode
         QAUTOTUNE     = 22,
         QACRO         = 23,
         THERMAL       = 24,
+        LOITER2QLAND  = 25,
+        AUTOLAND      = 26,
     };
 
     APMPlaneMode(uint32_t mode, bool settable);