From 201adb6818f726d55ee74915719ffe6d47ee8d19 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 1 Nov 2019 14:47:47 +1100
Subject: [PATCH] Copter: correct Heli compilation when some modes are disabled

---
 ArduCopter/Copter.h |  1 +
 ArduCopter/heli.cpp | 70 +++++++++++++++++++++------------------------
 2 files changed, 34 insertions(+), 37 deletions(-)

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 1f0c54d1b6..77882f2af3 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -747,6 +747,7 @@ private:
     // heli.cpp
     void heli_init();
     void check_dynamic_flight(void);
+    bool should_use_landing_swash() const;
     void update_heli_control_dynamics(void);
     void heli_update_landing_swash();
     void heli_update_rotor_speed_targets();
diff --git a/ArduCopter/heli.cpp b/ArduCopter/heli.cpp
index 27013bfb9d..4a9d4db37d 100644
--- a/ArduCopter/heli.cpp
+++ b/ArduCopter/heli.cpp
@@ -24,7 +24,7 @@ void Copter::heli_init()
 void Copter::check_dynamic_flight(void)
 {
     if (motors->get_spool_state() != AP_Motors::SpoolState::THROTTLE_UNLIMITED ||
-        control_mode == Mode::Number::LAND || (control_mode==Mode::Number::RTL && mode_rtl.state() == RTL_Land) || (control_mode == Mode::Number::AUTO && mode_auto.mode() == Auto_Land)) {
+        flightmode->is_landing()) {
         heli_dynamic_flight_counter = 0;
         heli_flags.dynamic_flight = false;
         return;
@@ -89,46 +89,42 @@ void Copter::update_heli_control_dynamics(void)
     attitude_control->set_hover_roll_trim_scalar((float) hover_roll_trim_scalar_slew/(float) scheduler.get_loop_rate_hz());
 }
 
+bool Copter::should_use_landing_swash() const
+{
+    if (flightmode->has_manual_throttle() ||
+        control_mode == Mode::Number::DRIFT ||
+        control_mode == Mode::Number::SPORT) {
+        // manual modes always uses full swash range
+        return false;
+    }
+    if (flightmode->is_landing()) {
+        // landing with non-manual throttle mode always uses limit swash range
+        return true;
+    }
+    if (ap.land_complete) {
+        // when landed in non-manual throttle mode limit swash range
+        return true;
+    }
+    if (!ap.auto_armed) {
+        // when waiting to takeoff in non-manual throttle mode limit swash range
+        return true;
+    }
+    if (!heli_flags.dynamic_flight) {
+        // Just in case we are unsure of being in non-manual throttle
+        // mode, limit swash range in low speed and hovering flight.
+        // This will catch any non-manual throttle mode attempting a
+        // landing and driving the collective too low before the land
+        // complete flag is set.
+        return true;
+    }
+    return false;
+}
+
 // heli_update_landing_swash - sets swash plate flag so higher minimum is used when landed or landing
 // should be called soon after update_land_detector in main code
 void Copter::heli_update_landing_swash()
 {
-    switch (control_mode) {
-        case Mode::Number::ACRO:
-        case Mode::Number::STABILIZE:
-        case Mode::Number::DRIFT:
-        case Mode::Number::SPORT:
-            // manual modes always uses full swash range
-            motors->set_collective_for_landing(false);
-            break;
-
-        case Mode::Number::LAND:
-            // landing always uses limit swash range
-            motors->set_collective_for_landing(true);
-            break;
-
-        case Mode::Number::RTL:
-        case Mode::Number::SMART_RTL:
-            if (mode_rtl.state() == RTL_Land) {
-                motors->set_collective_for_landing(true);
-            }else{
-                motors->set_collective_for_landing(!heli_flags.dynamic_flight || ap.land_complete || !ap.auto_armed);
-            }
-            break;
-
-        case Mode::Number::AUTO:
-            if (mode_auto.mode() == Auto_Land) {
-                motors->set_collective_for_landing(true);
-            }else{
-                motors->set_collective_for_landing(!heli_flags.dynamic_flight || ap.land_complete || !ap.auto_armed);
-            }
-            break;
-
-        default:
-            // auto and hold use limited swash when landed
-            motors->set_collective_for_landing(!heli_flags.dynamic_flight || ap.land_complete || !ap.auto_armed);
-            break;
-    }
+    motors->set_collective_for_landing(should_use_landing_swash());
 }
 
 // heli_update_rotor_speed_targets - reads pilot input and passes new rotor speed targets to heli motors object