Copter: Force Flying check for Heli

ArduCopter/land_detector.cpp

@@ -65,8 +65,11 @@ void Copter::update_land_detector()
         // because multi's use throttle), check that collective pitch is below land min collective position or throttle stick is zero.
         // Including the throttle zero check will ensure the conditions where stabilize stick zero position was not below collective min. For modes
         // that use altitude hold, check that the pilot is commanding a descent and collective is at min allowed for altitude hold modes.
-        bool motor_at_lower_limit = ((flightmode->has_manual_throttle() && (motors->get_below_land_min_coll() || heli_flags.coll_stk_low) &&
-                                    fabsf(ahrs.get_roll()) < M_PI/2.0f) || (motors->limit.throttle_lower && pos_control->get_vel_desired_cms().z < 0.0f));
+
+        // check if landing
+        const bool landing = flightmode->is_landing();
+        bool motor_at_lower_limit = (flightmode->has_manual_throttle() && (motors->get_below_land_min_coll() || heli_flags.coll_stk_low) && fabsf(ahrs.get_roll()) < M_PI/2.0f)
+                                    || ((!force_flying || landing) && motors->limit.throttle_lower && pos_control->get_vel_desired_cms().z < 0.0f);
 #else
         // check that the average throttle output is near minimum (less than 12.5% hover throttle)
         bool motor_at_lower_limit = motors->limit.throttle_lower && attitude_control->is_throttle_mix_min();