Updates to Flip:

Ability to abort flip mode if things go wrong
init function to re-enter flip mode if aborted

ArduCopter/ArduCopter.pde

@@ -1459,8 +1459,12 @@ void update_roll_pitch_mode(void)
 	// hack to do auto_flip - need to remove, no one is using.
 	#if CH7_OPTION == CH7_FLIP
 	if (do_flip){
-		roll_flip();
-		return;
+		if(g.rc_1.control_in == 0){
+			roll_flip();
+			return;
+		}else{
+			do_flip = false;
+		}
 	}
 	#endif
 

ArduCopter/control_modes.pde

@@ -51,9 +51,8 @@ static void read_trim_switch()
 {
 	#if CH7_OPTION == CH7_FLIP
 		if (g.rc_7.radio_in > CH_7_PWM_TRIGGER && g.rc_3.control_in != 0){
-			do_flip = true;
+			init_flip();
 		}
-
 	#elif CH7_OPTION == CH7_SET_HOVER
 		// switch is engaged
 		if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){
@@ -142,7 +141,7 @@ static void read_trim_switch()
 				set_cmd_with_index(current_loc, CH7_wp_index);
 
 				copter_leds_nav_blink = 10;	// Cause the CopterLEDs to blink twice to indicate saved waypoint
-				
+
 				// 0 = home
 				// 1 = takeoff
 				// 2 = WP 2

ArduCopter/flip.pde

@@ -7,35 +7,44 @@
 //    Some states are fixed commands (until some IMU condition)
 //    Some states include controls inside
 #if CH7_OPTION == CH7_FLIP
+uint8_t flip_timer;
+uint8_t	flip_state;
+
+#define AAP_THR_INC 170
+#define AAP_THR_DEC 90
+#define AAP_ROLL_OUT 2000
+
+void init_flip()
+{
+	if(do_flip == false){
+		do_flip = true;
+		flip_timer = 0;
+		flip_state = 0;
+	}
+}
+
 void roll_flip()
 {
-	#define AAP_THR_INC 180
-	#define AAP_THR_DEC 90
-	#define AAP_ROLL_OUT 2000
-	#define AAP_ROLL_RATE 3000	// up to 1250
-
-	static int 	AAP_timer = 0;
-	static byte AAP_state = 0;
-
 	// Yaw
 	g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
+
 	// Pitch
 	g.rc_2.servo_out = get_stabilize_pitch(0);
 
-	// State machine
-	switch (AAP_state){
+	// Roll State machine
+	switch (flip_state){
 		case 0: // Step 1 : Initialize
-			AAP_timer = 0;
-			AAP_state++;
+			flip_timer = 0;
+			flip_state++;
 			break;
 		case 1: // Step 2 : Increase throttle to start maneuver
-			if (AAP_timer < 95){ 	// .5 seconds
+			if (flip_timer < 95){ 	// .5 seconds
 				g.rc_1.servo_out = get_stabilize_roll(0);
 				g.rc_3.servo_out = g.rc_3.control_in + AAP_THR_INC;
-				AAP_timer++;
+				flip_timer++;
 			}else{
-				AAP_state++;
-				AAP_timer = 0;
+				flip_state++;
+				flip_timer = 0;
 			}
 			break;
 
@@ -43,35 +52,35 @@ void roll_flip()
 			if (ahrs.roll_sensor < 4500){
 				// Roll control
 				g.rc_1.servo_out = AAP_ROLL_OUT;
-				g.rc_3.servo_out = g.rc_3.control_in - AAP_THR_DEC;
+				g.rc_3.servo_out = g.rc_3.control_in;
 			}else{
-				AAP_state++;
+				flip_state++;
 			}
 			break;
 
 		case 3: // Step 4 : CONTINUE ROLL (until we reach a certain angle [-45deg])
-			if ((ahrs.roll_sensor >= 4500) || (ahrs.roll_sensor < -4500)){
+			if((ahrs.roll_sensor >= 4500) || (ahrs.roll_sensor < -9000)){// we are in second half of roll
 				g.rc_1.servo_out = 0;
 				g.rc_3.servo_out = g.rc_3.control_in - AAP_THR_DEC;
 			}else{
-				AAP_state++;
+				flip_state++;
 			}
 			break;
 
 		case 4: // Step 5 : Increase throttle to stop the descend
-			if (AAP_timer < 90){ // .5 seconds
+			if (flip_timer < 90){ // .5 seconds
 				g.rc_1.servo_out = get_stabilize_roll(0);
-				g.rc_3.servo_out = g.rc_3.control_in + AAP_THR_INC;
-				AAP_timer++;
+				g.rc_3.servo_out = g.rc_3.control_in + AAP_THR_INC + 30;
+				flip_timer++;
 			}else{
-				AAP_state++;
-				AAP_timer = 0;
+				flip_state++;
+				flip_timer = 0;
 			}
 			break;
 
 		case 5: // exit mode
-			AAP_timer = 0;
-			AAP_state = 0;
+			flip_timer = 0;
+			flip_state = 0;
 			do_flip = false;
 			break;
 	}