Copter: ensure force flying with heli inverted flag

ArduPilot · Mar 20, 2024 · b42a6a7 · b42a6a7
1 parent 13841b2
commit b42a6a7
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Showing 3 changed files with 16 additions and 4 deletions.
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
@@ -827,7 +827,8 @@ class Copter : public AP_Vehicle {
     void set_land_complete(bool b);
     void set_land_complete_maybe(bool b);
     void update_throttle_mix();
-
+    bool get_force_flying() const;
+
 #if AP_LANDINGGEAR_ENABLED
     // landing_gear.cpp
     void landinggear_update();

diff --git a/ArduCopter/crash_check.cpp b/ArduCopter/crash_check.cpp
@@ -36,7 +36,7 @@ void Copter::crash_check()
     }
 
     // exit immediately if in force flying
-    if (force_flying && !flightmode->is_landing()) {
+    if (get_force_flying() && !flightmode->is_landing()) {
         crash_counter = 0;
         return;
     }

diff --git a/ArduCopter/land_detector.cpp b/ArduCopter/land_detector.cpp
@@ -78,7 +78,7 @@ void Copter::update_land_detector()
 #if MODE_AUTOROTATE_ENABLED == ENABLED
                                     || (flightmode->mode_number() == Mode::Number::AUTOROTATE && motors->get_below_land_min_coll())
 #endif
-                                    || ((!force_flying || landing) && motors->limit.throttle_lower && pos_control->get_vel_desired_cms().z < 0.0f);
+                                    || ((!get_force_flying() || landing) && motors->limit.throttle_lower && pos_control->get_vel_desired_cms().z < 0.0f);
         bool throttle_mix_at_min = true;
 #else
         // check that the average throttle output is near minimum (less than 12.5% hover throttle)
@@ -218,11 +218,22 @@ void Copter::update_throttle_mix()
         // check if landing
         const bool landing = flightmode->is_landing();
 
-        if (((large_angle_request || force_flying) && !landing) || large_angle_error || accel_moving || descent_not_demanded) {
+        if (((large_angle_request || get_force_flying()) && !landing) || large_angle_error || accel_moving || descent_not_demanded) {
             attitude_control->set_throttle_mix_max(pos_control->get_vel_z_control_ratio());
         } else {
             attitude_control->set_throttle_mix_min();
         }
     }
 #endif
 }
+
+// helper function for force flying flag
+bool Copter::get_force_flying() const
+{
+#if FRAME_CONFIG == HELI_FRAME
+    if (attitude_control->get_inverted_flight()) {
+        return true;
+    }
+#endif
+    return force_flying;
+}