From 068fc7feac94afdc6511f7f5cfcd58ed782b4bc6 Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Mon, 18 Jan 2016 14:36:56 +0900
Subject: [PATCH] Copter: flip uses 0 to 1 throttle and sets motor spool state

---
 ArduCopter/control_flip.cpp | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/control_flip.cpp b/ArduCopter/control_flip.cpp
index c64fded8cc..295cb4404f 100644
--- a/ArduCopter/control_flip.cpp
+++ b/ArduCopter/control_flip.cpp
@@ -96,7 +96,7 @@ bool Copter::flip_init(bool ignore_checks)
 // should be called at 100hz or more
 void Copter::flip_run()
 {
-    int16_t throttle_out;
+    float throttle_out;
     float recovery_angle;
 
     // if pilot inputs roll > 40deg or timeout occurs abandon flip
@@ -219,8 +219,11 @@ void Copter::flip_run()
         break;
     }
 
+    // set motors to full range
+    motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
+
     // output pilot's throttle without angle boost
-    if (throttle_out == 0) {
+    if (is_zero(throttle_out)) {
         attitude_control.set_throttle_out_unstabilized(0,false,g.throttle_filt);
     } else {
         attitude_control.set_throttle_out(throttle_out, false, g.throttle_filt);