Copter: allow tradheli inverted flight in althold and auto modes

bnsgeyer · Mar 7, 2024 · e09015e · e09015e
1 parent 1c316e4
commit e09015e
Showing 1 changed file with 6 additions and 1 deletion.
diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
@@ -465,7 +465,9 @@ class ModeAltHold : public Mode {
     }
     bool allows_autotune() const override { return true; }
     bool allows_flip() const override { return true; }
-
+#if FRAME_CONFIG == HELI_FRAME
+    bool allows_inverted() const override { return true; };
+#endif
 protected:
 
     const char *name() const override { return "ALT_HOLD"; }
@@ -493,6 +495,9 @@ class ModeAuto : public Mode {
     bool allows_arming(AP_Arming::Method method) const override;
     bool is_autopilot() const override { return true; }
     bool in_guided_mode() const override { return _mode == SubMode::NAVGUIDED || _mode == SubMode::NAV_SCRIPT_TIME; }
+#if FRAME_CONFIG == HELI_FRAME
+    bool allows_inverted() const override { return true; };
+#endif
 
     // Auto modes
     enum class SubMode : uint8_t {