From fdac66878251bb1839efbcf4aa9fff24cedde5c0 Mon Sep 17 00:00:00 2001
From: Tatsuya Yamaguchi <susumu-336@hotmail.co.jp>
Date: Fri, 19 May 2023 11:56:52 +0900
Subject: [PATCH] Copter: implement is_landing and is_taking_off for use by lua

---
 ArduCopter/Copter.cpp | 12 ++++++++++++
 ArduCopter/Copter.h   |  2 ++
 2 files changed, 14 insertions(+)

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index 170ed3d649..dbb3357f5c 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -443,6 +443,18 @@ bool Copter::has_ekf_failsafed() const
     return failsafe.ekf;
 }
 
+// returns true if vehicle is landing. Only used by Lua scripts
+bool Copter::is_landing() const
+{
+    return flightmode->is_landing();
+}
+
+// returns true if vehicle is taking off. Only used by Lua scripts
+bool Copter::is_taking_off() const
+{
+    return flightmode->is_taking_off();
+}
+
 #endif // AP_SCRIPTING_ENABLED
 
 bool Copter::current_mode_requires_mission() const
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index c8614c4faf..38dfe29b50 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -679,6 +679,8 @@ private:
     // lua scripts use this to retrieve EKF failsafe state
     // returns true if the EKF failsafe has triggered
     bool has_ekf_failsafed() const override;
+    bool is_landing() const override;
+    bool is_taking_off() const override;
 #endif // AP_SCRIPTING_ENABLED
     void rc_loop();
     void throttle_loop();