Plane: add Mode::is_vtol_man_mode

and make use of is_vtol_mode in in_vtol_mode

ArduPlane/mode.h

@@ -69,6 +69,7 @@ public:
     // true for all q modes
     virtual bool is_vtol_mode() const { return false; }
     virtual bool is_vtol_man_throttle() const { return false; }
+    virtual bool is_vtol_man_mode() const { return false; }
 
     // true if mode can have terrain following disabled by switch
     virtual bool allows_terrain_disable() const { return false; }
@@ -346,6 +347,7 @@ public:
 
     bool is_vtol_mode() const override { return true; }
     bool is_vtol_man_throttle() const override { return true; }
+    virtual bool is_vtol_man_mode() const override { return true; }
 
     // methods that affect movement of the vehicle in this mode
     void update() override;
@@ -366,6 +368,7 @@ public:
     const char *name4() const override { return "QHOV"; }
 
     bool is_vtol_mode() const override { return true; }
+    virtual bool is_vtol_man_mode() const override { return true; }
 
     // methods that affect movement of the vehicle in this mode
     void update() override;
@@ -384,6 +387,7 @@ public:
     const char *name4() const override { return "QLOT"; }
 
     bool is_vtol_mode() const override { return true; }
+    virtual bool is_vtol_man_mode() const override { return true; }
 
     // methods that affect movement of the vehicle in this mode
     void update() override;
@@ -457,6 +461,7 @@ public:
     const char *name4() const override { return "QATN"; }
 
     bool is_vtol_mode() const override { return true; }
+    virtual bool is_vtol_man_mode() const override { return true; }
 
     // methods that affect movement of the vehicle in this mode
     void update() override;

ArduPlane/quadplane.cpp

@@ -1227,7 +1227,7 @@ bool QuadPlane::is_flying_vtol(void) const
     if (plane.control_mode == &plane.mode_guided && guided_takeoff) {
         return true;
     }
-    if (plane.control_mode == &plane.mode_qstabilize || plane.control_mode == &plane.mode_qhover || plane.control_mode == &plane.mode_qloiter || plane.control_mode == &plane.mode_qautotune) {
+    if (plane.control_mode->is_vtol_man_mode()) {
         // in manual flight modes only consider aircraft landed when pilot demanded throttle is zero
         return plane.get_throttle_input() > 0;
     }
@@ -2227,13 +2227,7 @@ bool QuadPlane::in_vtol_mode(void) const
     if (!available()) {
         return false;
     }
-    return (plane.control_mode == &plane.mode_qstabilize ||
-            plane.control_mode == &plane.mode_qhover ||
-            plane.control_mode == &plane.mode_qloiter ||
-            plane.control_mode == &plane.mode_qland ||
-            plane.control_mode == &plane.mode_qrtl ||
-            plane.control_mode == &plane.mode_qacro ||
-            plane.control_mode == &plane.mode_qautotune ||
+    return (plane.control_mode->is_vtol_mode() ||
             ((plane.control_mode == &plane.mode_guided || plane.control_mode == &plane.mode_avoidADSB) && plane.auto_state.vtol_loiter) ||
             in_vtol_auto());
 }