From 562050a8008480ca58333e50d9dd31bd3b6bbd60 Mon Sep 17 00:00:00 2001
From: Bill Geyer <bnsgeyer@aol.com>
Date: Tue, 17 Jan 2023 23:31:52 -0500
Subject: [PATCH] Copter: make code work for manual autorotations outside SITL

---
 ArduCopter/config.h |  6 +++++-
 ArduCopter/heli.cpp | 29 +++++++++++++++++++----------
 2 files changed, 24 insertions(+), 11 deletions(-)

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 9d1bb085ce..222a2355b3 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -288,12 +288,16 @@
 
 //////////////////////////////////////////////////////////////////////////////
 // Autorotate - autonomous auto-rotation - helicopters only
-#if FRAME_CONFIG == HELI_FRAME
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    #if FRAME_CONFIG == HELI_FRAME
         #ifndef MODE_AUTOROTATE_ENABLED
         # define MODE_AUTOROTATE_ENABLED !HAL_MINIMIZE_FEATURES
         #endif
     #else
         # define MODE_AUTOROTATE_ENABLED DISABLED
+    #endif
+#else
+    # define MODE_AUTOROTATE_ENABLED DISABLED
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
diff --git a/ArduCopter/heli.cpp b/ArduCopter/heli.cpp
index 000e05b31c..181c663e46 100644
--- a/ArduCopter/heli.cpp
+++ b/ArduCopter/heli.cpp
@@ -196,23 +196,32 @@ void Copter::heli_update_rotor_speed_targets()
 // to autorotation flight mode if manual collective is not being used.
 void Copter::heli_update_autorotation()
 {
-#if MODE_AUTOROTATE_ENABLED == ENABLED
     // check if flying and interlock disengaged
-    if (!ap.land_complete && !motors->get_interlock() && g2.arot.is_enable()) {
-        if (!flightmode->has_manual_throttle()) {
-            // set autonomous autorotation flight mode
-            set_mode(Mode::Number::AUTOROTATE, ModeReason::AUTOROTATION_START);
+    if (!ap.land_complete && !motors->get_interlock()) {
+#if MODE_AUTOROTATE_ENABLED == ENABLED
+        if (g2.arot.is_enable()) {
+            if (!flightmode->has_manual_throttle()) {
+                // set autonomous autorotation flight mode
+                set_mode(Mode::Number::AUTOROTATE, ModeReason::AUTOROTATION_START);
+            }
+            // set flag to facilitate both auto and manual autorotations
+            heli_flags.in_autorotation = true;
+            motors->set_in_autorotation(heli_flags.in_autorotation);
+            motors->set_enable_bailout(true);
+        }
+#endif
+        if (flightmode->has_manual_throttle() && motors->arot_man_enabled()) {
+            // set flag to facilitate both auto and manual autorotations
+            heli_flags.in_autorotation = true;
+            motors->set_in_autorotation(heli_flags.in_autorotation);
+            motors->set_enable_bailout(true);
         }
-        // set flag to facilitate both auto and manual autorotations
-        heli_flags.in_autorotation = true;
-        motors->set_in_autorotation(heli_flags.in_autorotation);
-        motors->set_enable_bailout(true);
     } else {
         heli_flags.in_autorotation = false;
         motors->set_in_autorotation(heli_flags.in_autorotation);
         motors->set_enable_bailout(false);
     }
-#endif
+
 }
 
 // update collective low flag.  Use a debounce time of 400 milliseconds.