How to fly with acceleration to the ground in an inverted state using the SET_POSITION_TARGET_LOCAL_NED command

ArduCopter
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1

I’ve been using SITL since Gazebo 11, standard gazebo-iris. For control, I use the SET_POSITION_TARGET_LOCAL_NED command with acceleration control only, but when accelerating to the ground more than G, the copter cannot turn over to add acceleration and is simply in free fall in an upright attitude. (I imagined that when the accel_z > 9.81 copter should turn over and increase thrust)
How can I remove this restriction?

def controll(acc_x, acc_y, acc_z, connection):
    connection.mav.send(mavutil.mavlink.MAVLink_set_position_target_local_ned_message(
                                1, connection.target_system, connection.target_component,
                                mavutil.mavlink.MAV_FRAME_LOCAL_OFFSET_NED, int(3135), 
                                0, 0, 0,
                                0, 0, 0,
                                acc_x, acc_y, acc_z,
                                0, 0))
2

I can only think of one reason why anyone would want this behavior, and it violates the Code of Conduct. Even if there was a perfectly above-board reason for this topic, it’s not likely a behavior we should openly encourage.

Closing this.