From 3ce16113b51b365e2267d3095cda99e18377ecc0 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 6 Nov 2013 21:39:39 +0900
Subject: [PATCH] TradHeli: use landing collective when landed or landing

---
 ArduCopter/ArduCopter.pde | 11 +++++++++--
 ArduCopter/heli.pde       | 28 +++++++++++++++++++++++++++-
 2 files changed, 36 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 1fa91feab2..a066bf9b6b 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1084,6 +1084,11 @@ static void throttle_loop()
 
     // check auto_armed status
     update_auto_armed();
+
+#if FRAME_CONFIG == HELI_FRAME
+    // update trad heli swash plate movement
+    heli_update_landing_swash();
+#endif
 }
 
 // update_mount - update camera mount position
@@ -1909,6 +1914,8 @@ void update_throttle_mode(void)
             update_throttle_cruise(motors.get_collective_out());
 			#else
 			update_throttle_cruise(pilot_throttle_scaled);
+            #endif  //HELI_FRAME
+
             // check if we've taken off yet
             if (!ap.takeoff_complete && motors.armed()) {
                 if (pilot_throttle_scaled > g.throttle_cruise) {
@@ -1916,7 +1923,6 @@ void update_throttle_mode(void)
                     set_takeoff_complete(true);
                 }
             }
-			#endif  //HELI_FRAME            
         }
         set_target_alt_for_reporting(0);
         break;
@@ -1934,13 +1940,14 @@ void update_throttle_mode(void)
             update_throttle_cruise(motors.get_collective_out());
 			#else
 			update_throttle_cruise(pilot_throttle_scaled);
+            #endif  //HELI_FRAME
+
             if (!ap.takeoff_complete && motors.armed()) {
                 if (pilot_throttle_scaled > g.throttle_cruise) {
                     // we must be in the air by now
                     set_takeoff_complete(true);
                 }
             }
-			#endif  //HELI_FRAME
         }
         set_target_alt_for_reporting(0);
         break;
diff --git a/ArduCopter/heli.pde b/ArduCopter/heli.pde
index 65805810c3..0bf10ef191 100644
--- a/ArduCopter/heli.pde
+++ b/ArduCopter/heli.pde
@@ -204,4 +204,30 @@ get_heli_rate_yaw(int32_t target_rate)
 	return output;                                              // output control
 }
 
-#endif  // FRAME_CONFIG == TRAD_HELI
\ No newline at end of file
+// 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
+static void heli_update_landing_swash()
+{
+    switch(throttle_mode) {
+        case THROTTLE_MANUAL:
+        case THROTTLE_MANUAL_TILT_COMPENSATED:
+        case THROTTLE_MANUAL_HELI:
+            // manual modes always uses full swash range
+            motors.set_collective_for_landing(false);
+            break;
+
+        case THROTTLE_LAND:
+            // landing always uses limit swash range
+            motors.set_collective_for_landing(true);
+            break;
+
+        case THROTTLE_HOLD:
+        case THROTTLE_AUTO:
+        default:
+            // auto and hold use limited swash when landed
+            motors.set_collective_for_landing(ap.land_complete || !ap.auto_armed);
+            break;
+    }
+}
+
+#endif  // FRAME_CONFIG == HELI_FRAME
\ No newline at end of file