Copter: Restrict mode changes for TradHeli.

ArduCopter/control_althold.cpp

@@ -10,8 +10,9 @@
 bool Copter::althold_init(bool ignore_checks)
 {
 #if FRAME_CONFIG == HELI_FRAME
-    // do not allow helis to enter Alt Hold if the Rotor Runup is not complete
-    if (!ignore_checks && !motors.rotor_runup_complete()){
+    // do not allow helis to enter Alt Hold if the Rotor Runup is not complete and current control mode has manual throttle control,
+    // as this will force the helicopter to descend.
+    if (!ignore_checks && mode_has_manual_throttle(control_mode) && !motors.rotor_runup_complete()){
         return false;
     }
 #endif

ArduCopter/control_auto.cpp

@@ -22,6 +22,14 @@
 // auto_init - initialise auto controller
 bool Copter::auto_init(bool ignore_checks)
 {
+#if FRAME_CONFIG == HELI_FRAME
+    // do not allow helis to enter Alt Hold if the Rotor Runup is not complete and current control mode has manual throttle control,
+    // as this will force the helicopter to descend.
+    if (!ignore_checks && mode_has_manual_throttle(control_mode) && !motors.rotor_runup_complete()){
+        return false;
+    }
+#endif
+
     if ((position_ok() && mission.num_commands() > 1) || ignore_checks) {
         auto_mode = Auto_Loiter;
 

ArduCopter/control_autotune.cpp

@@ -164,6 +164,11 @@ static float    tune_yaw_rp, tune_yaw_rLPF, tune_yaw_sp, tune_yaw_accel;
 // autotune_init - should be called when autotune mode is selected
 bool Copter::autotune_init(bool ignore_checks)
 {
+#if FRAME_CONFIG == HELI_FRAME
+    // Autotune mode not available for helicopters
+    return false;
+#endif
+
     bool success = true;
 
     switch (autotune_state.mode) {

ArduCopter/control_brake.cpp

@@ -9,6 +9,14 @@
 // brake_init - initialise brake controller
 bool Copter::brake_init(bool ignore_checks)
 {
+#if FRAME_CONFIG == HELI_FRAME
+    // do not allow helis to enter Alt Hold if the Rotor Runup is not complete and current control mode has manual throttle control,
+    // as this will force the helicopter to descend.
+    if (!ignore_checks && mode_has_manual_throttle(control_mode) && !motors.rotor_runup_complete()){
+        return false;
+    }
+#endif
+
     if (position_ok() || ignore_checks) {
 
         // set desired acceleration to zero

ArduCopter/control_circle.cpp

@@ -9,6 +9,14 @@
 // circle_init - initialise circle controller flight mode
 bool Copter::circle_init(bool ignore_checks)
 {
+#if FRAME_CONFIG == HELI_FRAME
+    // do not allow helis to enter Alt Hold if the Rotor Runup is not complete and current control mode has manual throttle control,
+    // as this will force the helicopter to descend.
+    if (!ignore_checks && mode_has_manual_throttle(control_mode) && !motors.rotor_runup_complete()){
+        return false;
+    }
+#endif
+
     if (position_ok() || ignore_checks) {
         circle_pilot_yaw_override = false;
 

ArduCopter/control_drift.cpp

@@ -31,6 +31,14 @@
 // drift_init - initialise drift controller
 bool Copter::drift_init(bool ignore_checks)
 {
+#if FRAME_CONFIG == HELI_FRAME
+    // do not allow helis to enter Alt Hold if the Rotor Runup is not complete and current control mode has manual throttle control,
+    // as this will force the helicopter to descend.
+    if (!ignore_checks && mode_has_manual_throttle(control_mode) && !motors.rotor_runup_complete()){
+        return false;
+    }
+#endif
+
     if (position_ok() || ignore_checks) {
         return true;
     }else{

ArduCopter/control_flip.cpp

@@ -41,6 +41,12 @@ int8_t    flip_pitch_dir;           // pitch direction (-1 = pitch forward, 1 =
 // flip_init - initialise flip controller
 bool Copter::flip_init(bool ignore_checks)
 {
+
+#if FRAME_CONFIG == HELI_FRAME
+    // Flip mode not available for helis as it is untested.
+    return false;
+#endif
+
     // only allow flip from ACRO, Stabilize, AltHold or Drift flight modes
     if (control_mode != ACRO && control_mode != STABILIZE && control_mode != ALT_HOLD) {
         return false;

ArduCopter/control_guided.cpp

@@ -29,6 +29,14 @@ struct Guided_Limit {
 // guided_init - initialise guided controller
 bool Copter::guided_init(bool ignore_checks)
 {
+#if FRAME_CONFIG == HELI_FRAME
+    // do not allow helis to enter Alt Hold if the Rotor Runup is not complete and current control mode has manual throttle control,
+    // as this will force the helicopter to descend.
+    if (!ignore_checks && mode_has_manual_throttle(control_mode) && !motors.rotor_runup_complete()){
+        return false;
+    }
+#endif
+
     if (position_ok() || ignore_checks) {
         // initialise yaw
         set_auto_yaw_mode(get_default_auto_yaw_mode(false));

ArduCopter/control_loiter.cpp

@@ -10,8 +10,9 @@
 bool Copter::loiter_init(bool ignore_checks)
 {
 #if FRAME_CONFIG == HELI_FRAME
-    // do not allow helis to enter Loiter if the Rotor Runup is not complete
-    if (!ignore_checks && !motors.rotor_runup_complete()){
+    // do not allow helis to enter Alt Hold if the Rotor Runup is not complete and current control mode has manual throttle control,
+    // as this will force the helicopter to descend.
+    if (!ignore_checks && mode_has_manual_throttle(control_mode) && !motors.rotor_runup_complete()){
         return false;
     }
 #endif

ArduCopter/control_poshold.cpp

@@ -77,6 +77,14 @@ static struct {
 // poshold_init - initialise PosHold controller
 bool Copter::poshold_init(bool ignore_checks)
 {
+#if FRAME_CONFIG == HELI_FRAME
+    // do not allow helis to enter Alt Hold if the Rotor Runup is not complete and current control mode has manual throttle control,
+    // as this will force the helicopter to descend.
+    if (!ignore_checks && mode_has_manual_throttle(control_mode) && !motors.rotor_runup_complete()){
+        return false;
+    }
+#endif
+
     // fail to initialise PosHold mode if no GPS lock
     if (!position_ok() && !ignore_checks) {
         return false;

ArduCopter/control_rtl.cpp

@@ -12,6 +12,14 @@
 // rtl_init - initialise rtl controller
 bool Copter::rtl_init(bool ignore_checks)
 {
+#if FRAME_CONFIG == HELI_FRAME
+    // do not allow helis to enter Alt Hold if the Rotor Runup is not complete and current control mode has manual throttle control,
+    // as this will force the helicopter to descend.
+    if (!ignore_checks && mode_has_manual_throttle(control_mode) && !motors.rotor_runup_complete()){
+        return false;
+    }
+#endif
+
     if (position_ok() || ignore_checks) {
         rtl_climb_start();
         return true;

ArduCopter/control_sport.cpp

@@ -9,6 +9,14 @@
 // sport_init - initialise sport controller
 bool Copter::sport_init(bool ignore_checks)
 {
+#if FRAME_CONFIG == HELI_FRAME
+    // do not allow helis to enter Alt Hold if the Rotor Runup is not complete and current control mode has manual throttle control,
+    // as this will force the helicopter to descend.
+    if (!ignore_checks && mode_has_manual_throttle(control_mode) && !motors.rotor_runup_complete()){
+        return false;
+    }
+#endif
+
     // initialize vertical speed and accelerationj
     pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
     pos_control.set_accel_z(g.pilot_accel_z);