Plane: unlock cruise/loiter heading while doing a scripted trick

and reset height

ArduPlane/ArduPlane.cpp

@@ -536,6 +536,13 @@ void Plane::update_alt()
 
     update_flight_stage();
 
+#if AP_SCRIPTING_ENABLED
+    if (plane.nav_scripting.enabled) {
+        // don't call TECS while we are in a trick
+        return;
+    }
+#endif
+
     if (control_mode->does_auto_throttle() && !throttle_suppressed) {
 
         float distance_beyond_land_wp = 0;

ArduPlane/mode_cruise.cpp

@@ -28,6 +28,15 @@ void ModeCruise::update()
         lock_timer_ms = 0;
     }
 
+#if AP_SCRIPTING_ENABLED
+    if (plane.nav_scripting.enabled) {
+        // while a trick is running unlock heading and zero altitude offset
+        locked_heading = false;
+        lock_timer_ms = 0;
+        plane.set_target_altitude_current();
+    }
+#endif
+    
     if (!locked_heading) {
         plane.nav_roll_cd = plane.channel_roll->norm_input() * plane.roll_limit_cd;
         plane.update_load_factor();
@@ -43,6 +52,12 @@ void ModeCruise::update()
  */
 void ModeCruise::navigate()
 {
+#if AP_SCRIPTING_ENABLED
+    if (plane.nav_scripting.enabled) {
+        // don't try to navigate while running trick
+        return;
+    }
+#endif
     if (!locked_heading &&
         plane.channel_roll->get_control_in() == 0 &&
         plane.rudder_input() == 0 &&

ArduPlane/mode_loiter.cpp

@@ -27,6 +27,14 @@ void ModeLoiter::update()
         plane.calc_nav_pitch();
         plane.calc_throttle();
     }
+
+#if AP_SCRIPTING_ENABLED
+    if (plane.nav_scripting.enabled) {
+        // while a trick is running we reset altitude
+        plane.set_target_altitude_current();
+        plane.next_WP_loc.set_alt_cm(plane.target_altitude.amsl_cm, Location::AltFrame::ABSOLUTE);
+    }
+#endif
 }
 
 bool ModeLoiter::isHeadingLinedUp(const Location loiterCenterLoc, const Location targetLoc)
@@ -91,6 +99,13 @@ void ModeLoiter::navigate()
         plane.next_WP_loc.set_alt_cm(plane.target_altitude.amsl_cm, Location::AltFrame::ABSOLUTE);
     }
 
+#if AP_SCRIPTING_ENABLED
+    if (plane.nav_scripting.enabled) {
+        // don't try to navigate while running trick
+        return;
+    }
+#endif
+
     // Zero indicates to use WP_LOITER_RAD
     plane.update_loiter(0);
 }