FLOWHOLD Mode Briefly Switches to ALTHOLD During Braking

ArduCopter Copter 4.4
1

Hello everyone,

I am experiencing some issues while using the APM flight controller（Copter 4.4.0） to control an indoor helicopter.

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Issue Description:​​
When using ArduPilot’s FLOWHOLD mode, my drone briefly switches to ALTHOLD during braking before reverting to FLOWHOLD. Here’s the detailed behavior:

​​Normal FLOWHOLD Hover:​​ Optical flow control works fine, maintaining stable position and altitude.
​​Braking Triggered (manual stop or auto-deceleration):​​
Drone enters braking state (tilts to slow down).
​​Problem:​​ System suddenly switches to ALTHOLD for about 20 seconds, then returns to FLOWHOLD.
The log’s link is as follows. Thank you so much for your help!