If you are driving forward and you flip upside down roll of a side hill or cliff you don't get ANY points until you flip back over (witout a touch) on the trucks power and ONLY if you drive backwards. Then you get a reverse.
if you right your side up and continue driving forward you did not get any points.

Hope that make sense!

Reason I ask is my rig seems to do some cracks better upside down and it's possible to do a complete barrel roll in a crack without driving backward. I guess its sort of a gray area. When your upside down, reverse is forward. Maybe it's ok if you call it before you do it like in pool.

Enters crack "Ok I'm going to roll upside down, climb the crack inverted and then roll back out of it at the end"

Ron makes an intersesting point about tumbling and flipping not costing a point if it lands back on the wheels even though the car was technicaly inverted for a period of time. Also from what I've observed there is the case where the car flips over backward, lands upside down on it's lid and is able to be righted by driving the wheels in the forward direction while grabbing traction with the front tires.

Maybe the definition for stuck should be defined as while running the wheels in reverse when there is no resultant forward or reverse movement of the car regardless of position.

Reverse penalties do not apply when the truck is upside down,the rules do not want to penalize you for trying to right the truck without a touch.

If, when you are back on all 4 wheels, you need to reverse to correct your posistion it would be a revese penalty.

Only area I see as a undefined point is what constitutes upside down ? Most judges will call it upside down if the truck is past 90* verticle.(it may be defined and I havnt read it clear enough)