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Plane: prevent controller windup on ground 

when on the ground in an auto-throttle mode lik FBWB or CRUISE, we may
have the throttle suppressed. In that case we should not run the
multicopter controller on quadplanes, or it may build up control which
will then apply on takeoff. This is particularly severe for aircraft
that are not level on the ground, such as taildragger quadplanes

Fixes https://discuss.ardupilot.org/t/quadplane-flips-on-takeoff/22095

many thanks to Sriram for reporting
This commit is contained in:
Andrew Tridgell 2017-10-20 15:13:52 +11:00
parent 1a95dcbdd7
commit 0aed5a9a57
1 changed files with 1 additions and 1 deletions
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2
ArduPlane/quadplane.cpp
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@ -1216,7 +1216,7 @@ void QuadPlane::update_transition(void)
assistance_needed(aspeed) && assistance_needed(aspeed) &&
!is_tailsitter() && !is_tailsitter() &&
hal.util->get_soft_armed() && hal.util->get_soft_armed() &&
(plane.auto_throttle_mode || ((plane.auto_throttle_mode && !plane.throttle_suppressed) ||
plane.channel_throttle->get_control_in()>0 || plane.channel_throttle->get_control_in()>0 ||
plane.is_flying())) { plane.is_flying())) {
// the quad should provide some assistance to the plane // the quad should provide some assistance to the plane