Copter: Heli: rework inverted flight flags and ensure only in a supported mode. #26345
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IamPete1
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Now includes a improvement from @bnsgeyer that smooths the transition between normal and inverted flight. Because of that improvement and the stabilize only mode check it is safe to remove the pre-arm for the inverted switch being setup. |
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This removes the inverted flight state in copter and motors and just keeps it in Attitude control. This then adds a new per mode
allows_invertedwhich is false for everything except stabilize. This method allows checking that the current mode allows inverted before enabling it and it allows disabling inverted flight on mode exit if the new mode does not support it.