Copter: Clarify and tighten preconditions in Flip mode initialization #31714
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peterbarker
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Dec 16, 2025
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peterbarker
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This LGTM
We used to have this check, by my reading.
| // only allow flip when flying | ||
| if (!motors->armed() || copter.ap.land_complete) { | ||
| // ensure roll and pitch input is less than 40deg | ||
| if ((abs(channel_roll->get_control_in()) >= 4000) || (abs(channel_pitch->get_control_in()) >= 4000)) { |
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| if ((abs(channel_roll->get_control_in()) >= 4000) || (abs(channel_pitch->get_control_in()) >= 4000)) { | |
| if ((abs(channel_roll->get_control_in()) >= 4000) || | |
| (abs(channel_pitch->get_control_in()) >= 4000)) { |
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This change clarifies the precondition checks in ModeFlip::init().
The checks are reordered for readability, and both roll and pitch inputs
are validated at init time. No behavior change is intended.