From 477ae8f7be9ffbd9398c3febe624c8c54976ad96 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 10 Nov 2017 12:09:27 +1100
Subject: [PATCH] Copter: pass heli_flags into flightmode constructor

---
 ArduCopter/Copter.h     | 5 +++--
 ArduCopter/FlightMode.h | 5 ++++-
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index b938430494..464856d7c3 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -597,11 +597,12 @@ private:
     ModeFilterInt16_Size5 rotor_speed_deglitch_filter {4};
 
     // Tradheli flags
-    struct {
+    typedef struct {
         uint8_t dynamic_flight          : 1;    // 0   // true if we are moving at a significant speed (used to turn on/off leaky I terms)
         uint8_t init_targets_on_arming  : 1;    // 1   // true if we have been disarmed, and need to reset rate controller targets when we arm
         uint8_t inverted_flight         : 1;    // 2   // true for inverted flight mode
-    } heli_flags;
+    } heli_flags_t;
+    heli_flags_t heli_flags;
 
     int16_t hover_roll_trim_scalar_slew;
 #endif
diff --git a/ArduCopter/FlightMode.h b/ArduCopter/FlightMode.h
index 9447f6a6ef..c12f89c257 100644
--- a/ArduCopter/FlightMode.h
+++ b/ArduCopter/FlightMode.h
@@ -27,7 +27,8 @@ public:
         takeoff_state(_copter.takeoff_state),
         ekfGndSpdLimit(_copter.ekfGndSpdLimit),
         ekfNavVelGainScaler(_copter.ekfNavVelGainScaler),
-        auto_yaw_mode(_copter.auto_yaw_mode)
+        auto_yaw_mode(_copter.auto_yaw_mode),
+        heli_flags(_copter.heli_flags)
         { };
 
 protected:
@@ -76,6 +77,8 @@ protected:
     // auto flight mode's yaw mode
     uint8_t &auto_yaw_mode;
 
+    heli_flags_t &heli_flags;
+
     // pass-through functions to reduce code churn on conversion;
     // these are candidates for moving into the FlightMode base
     // class.