From 5b5385715ed9fc8fd70ea8e72f6266ac5f42b55b Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 5 Aug 2016 13:36:39 +0900
Subject: [PATCH] Copter: manual modes set_land_complete to false

---
 ArduCopter/control_acro.cpp           | 3 +++
 ArduCopter/control_drift.cpp          | 5 +++++
 ArduCopter/control_stabilize.cpp      | 3 +++
 ArduCopter/heli_control_acro.cpp      | 5 +++++
 ArduCopter/heli_control_stabilize.cpp | 5 +++++
 5 files changed, 21 insertions(+)

diff --git a/ArduCopter/control_acro.cpp b/ArduCopter/control_acro.cpp
index 88445b1966..87130f2a68 100644
--- a/ArduCopter/control_acro.cpp
+++ b/ArduCopter/control_acro.cpp
@@ -33,6 +33,9 @@ void Copter::acro_run()
         return;
     }
 
+    // clear landing flag
+    set_land_complete(false);
+
     motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
 
     // convert the input to the desired body frame rate
diff --git a/ArduCopter/control_drift.cpp b/ArduCopter/control_drift.cpp
index f44a8a8227..e70fefc533 100644
--- a/ArduCopter/control_drift.cpp
+++ b/ArduCopter/control_drift.cpp
@@ -55,6 +55,11 @@ void Copter::drift_run()
         return;
     }
 
+    // clear landing flag above zero throttle
+    if (!ap.throttle_zero) {
+        set_land_complete(false);
+    }
+
     // convert pilot input to lean angles
     get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, aparm.angle_max);
 
diff --git a/ArduCopter/control_stabilize.cpp b/ArduCopter/control_stabilize.cpp
index 0a64e02199..7033cad67f 100644
--- a/ArduCopter/control_stabilize.cpp
+++ b/ArduCopter/control_stabilize.cpp
@@ -34,6 +34,9 @@ void Copter::stabilize_run()
         return;
     }
 
+    // clear landing flag
+    set_land_complete(false);
+
     motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
 
     // apply SIMPLE mode transform to pilot inputs
diff --git a/ArduCopter/heli_control_acro.cpp b/ArduCopter/heli_control_acro.cpp
index da5ced0b89..6eaa672b3c 100644
--- a/ArduCopter/heli_control_acro.cpp
+++ b/ArduCopter/heli_control_acro.cpp
@@ -47,6 +47,11 @@ void Copter::heli_acro_run()
         }
     }   
 
+    // clear landing flag above zero throttle
+    if (motors.armed() && motors.get_interlock() && motors.rotor_runup_complete() && !ap.throttle_zero) {
+        set_land_complete(false);
+    }
+
     if (!motors.has_flybar()){
         // convert the input to the desired body frame rate
         get_pilot_desired_angle_rates(channel_roll->get_control_in(), channel_pitch->get_control_in(), channel_yaw->get_control_in(), target_roll, target_pitch, target_yaw);
diff --git a/ArduCopter/heli_control_stabilize.cpp b/ArduCopter/heli_control_stabilize.cpp
index 361edf5b41..3c17f77b77 100644
--- a/ArduCopter/heli_control_stabilize.cpp
+++ b/ArduCopter/heli_control_stabilize.cpp
@@ -46,6 +46,11 @@ void Copter::heli_stabilize_run()
         }
     }
 
+    // clear landing flag above zero throttle
+    if (motors.armed() && motors.get_interlock() && motors.rotor_runup_complete() && !ap.throttle_zero) {
+        set_land_complete(false);
+    }
+
     // apply SIMPLE mode transform to pilot inputs
     update_simple_mode();