From 20015c60a73a5b579e6296eca43e65ecedc68766 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sat, 24 Feb 2024 23:39:11 +0000
Subject: [PATCH] Plane: Quadplane: move disable of assistance in flare to
 `should_assist` function

---
 ArduPlane/RC_Channel.cpp | 9 ---------
 ArduPlane/quadplane.cpp  | 6 ++++++
 2 files changed, 6 insertions(+), 9 deletions(-)

diff --git a/ArduPlane/RC_Channel.cpp b/ArduPlane/RC_Channel.cpp
index 069038960e..3d0caaec35 100644
--- a/ArduPlane/RC_Channel.cpp
+++ b/ArduPlane/RC_Channel.cpp
@@ -121,20 +121,11 @@ void RC_Channel_Plane::do_aux_function_flare(AuxSwitchPos ch_flag)
         switch(ch_flag) {
         case AuxSwitchPos::HIGH:
             plane.flare_mode = Plane::FlareMode::ENABLED_PITCH_TARGET;
-#if HAL_QUADPLANE_ENABLED
-            plane.quadplane.assist.set_state(QuadPlane::VTOL_Assist::STATE::ASSIST_DISABLED);
-#endif
             break;
         case AuxSwitchPos::MIDDLE:
             plane.flare_mode = Plane::FlareMode::ENABLED_NO_PITCH_TARGET;
-#if HAL_QUADPLANE_ENABLED
-            plane.quadplane.assist.set_state(QuadPlane::VTOL_Assist::STATE::ASSIST_DISABLED);
-#endif
             break;
         case AuxSwitchPos::LOW:
-#if HAL_QUADPLANE_ENABLED
-            plane.quadplane.assist.set_state(QuadPlane::VTOL_Assist::STATE::ASSIST_ENABLED);
-#endif
             plane.flare_mode = Plane::FlareMode::FLARE_DISABLED;
             break;
         }    
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index a200dd95c9..ab864ac260 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1481,6 +1481,12 @@ bool QuadPlane::VTOL_Assist::should_assist(float aspeed, bool have_airspeed)
         return false;
     }
 
+    if (plane.flare_mode != Plane::FlareMode::FLARE_DISABLED) {
+        // Never active in fixed wing flare
+        reset();
+        return false;
+    }
+
     if (state == STATE::FORCE_ENABLED) {
         // force enabled, no need to check thresholds
         reset();