From 0aa1ae048dd3acab4d80da865f0d617366382839 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 22 Apr 2016 20:20:06 +1000
Subject: [PATCH] Plane: fixed is_flying() for VTOL flight

otherwise we may disarm mid-flight!
---
 ArduPlane/is_flying.cpp | 3 +++
 ArduPlane/quadplane.cpp | 9 +++++++++
 ArduPlane/quadplane.h   | 3 +++
 3 files changed, 15 insertions(+)

diff --git a/ArduPlane/is_flying.cpp b/ArduPlane/is_flying.cpp
index c3bc964953..63c2651307 100644
--- a/ArduPlane/is_flying.cpp
+++ b/ArduPlane/is_flying.cpp
@@ -170,6 +170,9 @@ void Plane::update_is_flying_5Hz(void)
 bool Plane::is_flying(void)
 {
     if (hal.util->get_soft_armed()) {
+        if (quadplane.is_flying_vtol()) {
+            return true;
+        }
         // when armed, assume we're flying unless we probably aren't
         return (isFlyingProbability >= 0.1f);
     }
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 7be9cadcf5..c767e700b5 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -553,6 +553,15 @@ bool QuadPlane::should_relax(void)
     return relax_loiter;
 }
 
+// see if we are flying in vtol
+bool QuadPlane::is_flying_vtol(void)
+{
+    if (in_vtol_mode() && millis() - motors_lower_limit_start_ms > 5000) {
+        return true;
+    }
+    return false;
+}
+
 /*
   smooth out descent rate for landing to prevent a jerk as we get to
   land_final_alt. 
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index d60d82653b..4961fd2ef5 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -62,6 +62,9 @@ public:
     // return desired forward throttle percentage
     int8_t forward_throttle_pct(void);        
     float get_weathervane_yaw_rate_cds(void);
+
+    // see if we are flying from vtol point of view
+    bool is_flying_vtol(void);
     
     struct PACKED log_QControl_Tuning {
         LOG_PACKET_HEADER;