From 1a1edf92b71a474c1bf1a081a7e8ae15c7724f5c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 8 Oct 2024 20:39:22 +1100
Subject: [PATCH] Plane: evaluate assistance requirements on mode change

this avoid the AHRS being told we are flying forward - because we are no longer in a VTOL mode - and instantly being told we are not flying forward - because we are providing assistance
---
 ArduPlane/mode.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/ArduPlane/mode.cpp b/ArduPlane/mode.cpp
index ade2abb2a3..d9fec93dff 100644
--- a/ArduPlane/mode.cpp
+++ b/ArduPlane/mode.cpp
@@ -140,6 +140,14 @@ bool Mode::enter()
 
         // Make sure the flight stage is correct for the new mode
         plane.update_flight_stage();
+
+#if HAL_QUADPLANE_ENABLED
+        if (quadplane.enabled()) {
+            float aspeed;
+            bool have_airspeed = quadplane.ahrs.airspeed_estimate(aspeed);
+            quadplane.assisted_flight = quadplane.assist.should_assist(aspeed, have_airspeed);
+        }
+#endif
     }
 
     return enter_result;