AP_Motors: tradheli - add support to determine below mid collective

libraries/AP_Motors/AP_MotorsHeli.h

@@ -130,6 +130,9 @@ public:
     // accessor to get the takeoff collective flag signifying that current collective is greater than collective required to indicate takeoff
     bool get_takeoff_collective() const { return _heliflags.takeoff_collective; }
 
+    // accessor to get the takeoff collective flag signifying that current collective is greater than collective required to indicate takeoff
+    bool get_below_mid_collective() const { return _heliflags.below_mid_collective; }
+
     // support passing init_targets_on_arming flag to greater code
     bool init_targets_on_arming() const override { return _heliflags.init_targets_on_arming; }
 
@@ -241,6 +244,7 @@ protected:
         uint8_t servo_test_running      : 1;    // true if servo_test is running
         uint8_t land_complete           : 1;    // true if aircraft is landed
         uint8_t takeoff_collective      : 1;    // true if collective is above 30% between H_COL_MID and H_COL_MAX
+        uint8_t below_mid_collective    : 1;    // true if collective is below H_COL_MID
     } _heliflags;
 
     // parameters

libraries/AP_Motors/AP_MotorsHeli_Dual.cpp

@@ -552,6 +552,13 @@ void AP_MotorsHeli_Dual::move_actuators(float roll_out, float pitch_out, float c
         limit.throttle_lower = true;
     }
 
+    // updates below mid collective flag
+    if (collective_out <= _collective_mid_pct) {
+        _heliflags.below_mid_collective = true;
+    } else {
+        _heliflags.below_mid_collective = false;
+    }
+
     // updates takeoff collective flag based on 50% hover collective
     update_takeoff_collective_flag(collective_out);
 

libraries/AP_Motors/AP_MotorsHeli_Quad.cpp

@@ -230,6 +230,13 @@ void AP_MotorsHeli_Quad::move_actuators(float roll_out, float pitch_out, float c
         limit.throttle_lower = true;
     }
 
+    // updates below mid collective flag
+    if (collective_out <= _collective_mid_pct) {
+        _heliflags.below_mid_collective = true;
+    } else {
+        _heliflags.below_mid_collective = false;
+    }
+
     // updates takeoff collective flag based on 50% hover collective
     update_takeoff_collective_flag(collective_out);
 

libraries/AP_Motors/AP_MotorsHeli_Single.cpp

@@ -417,6 +417,14 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float
     if (_heliflags.landing_collective && collective_out < _collective_mid_pct && !_heliflags.in_autorotation) {
         collective_out = _collective_mid_pct;
         limit.throttle_lower = true;
+
+    }
+
+    // updates below mid collective flag
+    if (collective_out <= _collective_mid_pct) {
+        _heliflags.below_mid_collective = true;
+    } else {
+        _heliflags.below_mid_collective = false;
     }
 
     // updates takeoff collective flag based on 50% hover collective