TradHeli - allow inverted flight

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Not good for quads but for heli's inverted flight should be possible.  changes 
required should include:
   a) control mixing that changes based on attitude.  For example as you pitch forward more and more, roll and yaw controls are swapped (i.e. imagine a heli completely nose down...if you want to modify your heading 10degrees to the right, you should roll right, there's no need to change the rudder because it won't help).  Also once completely inverted heading hold yaw control should be reversed.
   b) "throttle boost" (aka collective pitch) increases as you roll or pitch but only to a maximum point and it never causes a negative pitch which is what we will need for inverted flight.

Original issue reported on code.google.com by rmackay...@gmail.com on 5 Jan 2012 at 12:43

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This is not how we normally fly traditional helicopters. We learn that the 
controls change and keep track of orientation. 10+ years ago RC transmitters 
had switches which reversed the controls and all it did was cause crashes when 
we lost track of which position the switch was in. Adding this feature would 
seem to add an unnecessary complication. All heli pilots today learn to fly 
inverted with changing the control mixing.

Original comment by Wingspin...@gmail.com on 8 Jan 2012 at 2:22

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It would actually be very useful in stabilize mode. Gain lots of altitude, flip 
the switch, and let the system invert its self. It would be nothing for the 
ArduPilot to operate in stabilize mode with an inverted option.

At the same time, you should keep the control scheme homogenous for the user. 
It could act as a basic training mode for users to get the feel for how the 
controls work when the heli is inverted, and still give stability for when 
things got hairy. 

Users can fly in the simulator to learn without consequences, then fly in 
inverted stabilize mode to get a basic feel for the real thing.

Original comment by lyu...@gmail.com on 1 Feb 2012 at 10:55

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Just some thoughts and suggestions.

I too fly helicopters.. 

I would expect APM to invoke a complete paradigm shift under its typical modes. 
I.e., consistent control behavior all throughout the modes and orientation, 
inverted or not, including Simple and Super Simple mode.  

Outside of these modes, to support traditional 3D flying, I would suggest 
introducing a 3D-Acro mode, i.e., stabilized, but with maxed control responses, 
and reverse control orientation when flying inverted.

Just some thoughts.

Original comment by dberr...@gmail.com on 1 Apr 2013 at 4:08

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Closing all issues on the old issues list and marking them WontFix 'cuz I don't 
want to mark them as "done"

Original comment by rmackay...@gmail.com on 21 Jul 2013 at 2:11

• Changed state: WontFix