LOITER to Altitude and QLAND Mode

If the previous mode was a fixed wing mode, this mode will perform a descending fixed wing LOITER down to Q_RTL_ALT and then switch to QLAND mode. If the aircraft was already performing a loiter when switching to this mode the LOITER center does not change, otherwise the LOITER center will become the same location it is at when entering the mode.

Note

the QLAND target will be directly below the point it switches to QLAND (ie on the loiter circle path, not its center)

If in a VTOL mode, or below Q_RTL_ALT, when switching to this mode, it will change immediately to QLAND mode.

This is useful as a Battery Failsafe action to VTOL land the vehicle with as little battery usage as possible if at higher altitudes than using QLAND mode by itself.

The fixed wing loiter radius is set by WP_LOITER_RAD and descent rate is FBWB_CLIMB_RATE until Q_RTL_ALT is reached, and when reached, it will switch to QLAND mode.