From b1bd77f19f5b269ea68727ae82b15323f5e1ff49 Mon Sep 17 00:00:00 2001
From: bnsgeyer <bnsgeyer@aol.com>
Date: Tue, 1 Dec 2020 16:36:36 -0500
Subject: [PATCH] Copter: Tradheli - make new integrator scheme selectable

---
 ArduCopter/heli.cpp                | 15 ++++++++++-----
 ArduCopter/mode_acro_heli.cpp      |  4 ++--
 ArduCopter/mode_stabilize_heli.cpp |  4 ++--
 3 files changed, 14 insertions(+), 9 deletions(-)

diff --git a/ArduCopter/heli.cpp b/ArduCopter/heli.cpp
index dc6597d27e..3c49e5cc0c 100644
--- a/ArduCopter/heli.cpp
+++ b/ArduCopter/heli.cpp
@@ -73,13 +73,18 @@ void Copter::check_dynamic_flight(void)
 // should be run between the rate controller and the servo updates.
 void Copter::update_heli_control_dynamics(void)
 {
-    // Use Leaky_I if we are not moving fast
-//    attitude_control->use_leaky_i(!heli_flags.dynamic_flight);
-    attitude_control->use_leaky_i(false);
 
-    if (ap.land_complete || ap.land_complete_maybe) {
-        motors->set_land_complete(true);
+    if (!motors->using_leaky_integrator()) {
+        //turn off leaky_I
+        attitude_control->use_leaky_i(false);
+        if (ap.land_complete || ap.land_complete_maybe) {
+            motors->set_land_complete(true);
+        } else {
+            motors->set_land_complete(false);
+        }
     } else {
+        // Use Leaky_I if we are not moving fast
+        attitude_control->use_leaky_i(!heli_flags.dynamic_flight);
         motors->set_land_complete(false);
     }
 
diff --git a/ArduCopter/mode_acro_heli.cpp b/ArduCopter/mode_acro_heli.cpp
index 36f757d080..e5d2f24ffe 100644
--- a/ArduCopter/mode_acro_heli.cpp
+++ b/ArduCopter/mode_acro_heli.cpp
@@ -51,13 +51,13 @@ void ModeAcro_Heli::run()
     case AP_Motors::SpoolState::GROUND_IDLE:
         // If aircraft is landed, set target heading to current and reset the integrator
         // Otherwise motors could be at ground idle for practice autorotation
-        if (copter.ap.land_complete) {
+        if ((motors->init_targets_on_arming() && motors->using_leaky_integrator()) || (copter.ap.land_complete && !motors->using_leaky_integrator())) {
             attitude_control->set_attitude_target_to_current_attitude();
             attitude_control->reset_rate_controller_I_terms();
         }
         break;
     case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
-        if (copter.ap.land_complete) {
+        if (copter.ap.land_complete && !motors->using_leaky_integrator()) {
             attitude_control->reset_rate_controller_I_terms();
         }
         break;
diff --git a/ArduCopter/mode_stabilize_heli.cpp b/ArduCopter/mode_stabilize_heli.cpp
index f92f4a3642..a216f9fb6d 100644
--- a/ArduCopter/mode_stabilize_heli.cpp
+++ b/ArduCopter/mode_stabilize_heli.cpp
@@ -56,13 +56,13 @@ void ModeStabilize_Heli::run()
     case AP_Motors::SpoolState::GROUND_IDLE:
         // If aircraft is landed, set target heading to current and reset the integrator
         // Otherwise motors could be at ground idle for practice autorotation
-        if (copter.ap.land_complete) {
+        if ((motors->init_targets_on_arming() && motors->using_leaky_integrator()) || (copter.ap.land_complete && !motors->using_leaky_integrator())) {
             attitude_control->set_yaw_target_to_current_heading();
             attitude_control->reset_rate_controller_I_terms();
         }
         break;
     case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
-        if (copter.ap.land_complete) {
+        if (copter.ap.land_complete && !motors->using_leaky_integrator()) {
             attitude_control->reset_rate_controller_I_terms();
         }
     case AP_Motors::SpoolState::SPOOLING_UP: