From a07b514ee8e1e31618d766e5c778e8c72f30f9f4 Mon Sep 17 00:00:00 2001
From: bnsgeyer <bnsgeyer@aol.com>
Date: Tue, 5 Mar 2024 23:18:38 -0500
Subject: [PATCH] Copter: allow tradheli inverted feature for stabilize,
 althold, loiter and auto modes

---
 ArduCopter/heli.cpp                |  5 +++--
 ArduCopter/mode.h                  | 11 ++++++++++-
 ArduCopter/mode_stabilize_heli.cpp |  2 +-
 3 files changed, 14 insertions(+), 4 deletions(-)

diff --git a/ArduCopter/heli.cpp b/ArduCopter/heli.cpp
index 91d9e79a65..5d4f562a71 100644
--- a/ArduCopter/heli.cpp
+++ b/ArduCopter/heli.cpp
@@ -106,8 +106,9 @@ void Copter::update_heli_control_dynamics(void)
 bool Copter::should_use_landing_swash() const
 {
     if (flightmode->has_manual_throttle() ||
-        flightmode->mode_number() == Mode::Number::DRIFT) {
-        // manual modes always uses full swash range
+        flightmode->mode_number() == Mode::Number::DRIFT ||
+        attitude_control->get_inverted_flight()) {
+        // manual modes or modes using inverted flight uses full swash range
         return false;
     }
     if (flightmode->is_landing()) {
diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index e50f045b67..af3519628e 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -471,7 +471,9 @@ public:
     }
     bool allows_autotune() const override { return true; }
     bool allows_flip() const override { return true; }
-
+#if FRAME_CONFIG == HELI_FRAME
+    bool allows_inverted() const override { return true; };
+#endif
 protected:
 
     const char *name() const override { return "ALT_HOLD"; }
@@ -499,6 +501,9 @@ public:
     bool allows_arming(AP_Arming::Method method) const override;
     bool is_autopilot() const override { return true; }
     bool in_guided_mode() const override { return _mode == SubMode::NAVGUIDED || _mode == SubMode::NAV_SCRIPT_TIME; }
+#if FRAME_CONFIG == HELI_FRAME
+    bool allows_inverted() const override { return true; };
+#endif
 
     // Auto modes
     enum class SubMode : uint8_t {
@@ -1250,6 +1255,10 @@ public:
     bool has_user_takeoff(bool must_navigate) const override { return true; }
     bool allows_autotune() const override { return true; }
 
+#if FRAME_CONFIG == HELI_FRAME
+    bool allows_inverted() const override { return true; };
+#endif
+
 #if AC_PRECLAND_ENABLED
     void set_precision_loiter_enabled(bool value) { _precision_loiter_enabled = value; }
 #endif
diff --git a/ArduCopter/mode_stabilize_heli.cpp b/ArduCopter/mode_stabilize_heli.cpp
index e9caa4212b..2dbf9bbdb4 100644
--- a/ArduCopter/mode_stabilize_heli.cpp
+++ b/ArduCopter/mode_stabilize_heli.cpp
@@ -78,7 +78,7 @@ void ModeStabilize_Heli::run()
     attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
 
     // output pilot's throttle - note that TradHeli does not used angle-boost
-    attitude_control->set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);
+    attitude_control->set_throttle_out(pilot_throttle_scaled, true, g.throttle_filt);
 }
 
 #endif  //HELI_FRAME