Copter: TradHelis force spool up before takeoff

ArduCopter/Copter.h

@@ -874,6 +874,7 @@ private:
     MAV_TYPE get_frame_mav_type();
     const char* get_frame_string();
     void allocate_motors(void);
+    bool is_tradheli() const;
 
     // terrain.cpp
     void terrain_update();

ArduCopter/mode.cpp

@@ -373,9 +373,13 @@ bool Copter::Mode::_TakeOff::triggered(const float target_climb_rate) const
     return true;
 }
 
-void Copter::Mode::zero_throttle_and_relax_ac()
+void Copter::Mode::zero_throttle_and_relax_ac(bool spool_up)
 {
-    motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
+    if (spool_up) {
+        motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
+    } else {
+        motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
+    }
 #if FRAME_CONFIG == HELI_FRAME
     // Helicopters always stabilize roll/pitch/yaw
     attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f);

ArduCopter/mode.h

@@ -112,7 +112,7 @@ protected:
     bool takeoff_triggered(float target_climb_rate) const;
 
     // helper functions
-    void zero_throttle_and_relax_ac();
+    void zero_throttle_and_relax_ac(bool spool_up = false);
 
     // functions to control landing
     // in modes that support landing

ArduCopter/mode_drift.cpp

@@ -50,7 +50,7 @@ void Copter::ModeDrift::run()
 
     // if landed and throttle at zero, set throttle to zero and exit immediately
     if (!motors->armed() || !motors->get_interlock() || (ap.land_complete && ap.throttle_zero)) {
-        zero_throttle_and_relax_ac();
+        zero_throttle_and_relax_ac(copter.is_tradheli() && motors->get_interlock());
         return;
     }
 

ArduCopter/mode_poshold.cpp

@@ -139,7 +139,7 @@ void Copter::ModePosHold::run()
     // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
     if (!motors->armed() || !ap.auto_armed || !motors->get_interlock()) {
         loiter_nav->init_target();
-        zero_throttle_and_relax_ac();
+        zero_throttle_and_relax_ac(copter.is_tradheli() && motors->get_interlock());
         pos_control->relax_alt_hold_controllers(0.0f);
         return;
     }

ArduCopter/mode_zigzag.cpp

@@ -43,7 +43,7 @@ void Copter::ModeZigZag::run()
 
     // if not auto armed or motors not enabled set throttle to zero and exit immediately
     if (!motors->armed() || !ap.auto_armed || !motors->get_interlock() || ap.land_complete) {
-        zero_throttle_and_relax_ac();
+        zero_throttle_and_relax_ac(copter.is_tradheli() && motors->get_interlock());
         return;
     }
 

ArduCopter/system.cpp

@@ -649,3 +649,12 @@ void Copter::allocate_motors(void)
     // upgrade parameters. This must be done after allocating the objects
     convert_pid_parameters();
 }
+
+bool Copter::is_tradheli() const
+{
+#if FRAME_CONFIG == HELI_FRAME
+    return true;
+#else
+    return false;
+#endif
+}