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Plane: if statement cleanup in QuadPlane::assign_tilt_to_fwd_thr
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@ -2923,7 +2923,11 @@ void QuadPlane::vtol_position_controller(void)
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}
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void QuadPlane::assign_tilt_to_fwd_thr(void) {
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if (is_positive(q_fwd_thr_gain)) {
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if (!is_positive(q_fwd_thr_gain)) {
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q_fwd_throttle = 0.0f;
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return;
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}
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// Handle the case where we are limiting the forward pitch angle to prevent negative wing lift
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// and are using the forward thrust motor or tilting rotors to provide the forward acceleration
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float fwd_tilt_rad = radians(constrain_float(-0.01f * (float)plane.nav_pitch_cd, 0.0f, 45.0f));
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@ -2943,10 +2947,6 @@ void QuadPlane::assign_tilt_to_fwd_thr(void) {
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q_fwd_throttle *= fwd_thr_scaler;
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q_fwd_nav_pitch_lim_cd = - (int32_t)((float)aparm.angle_max * (1.0f - fwd_thr_scaler) + 100.0f * q_fwd_pitch_lim * fwd_thr_scaler);
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}
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} else {
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q_fwd_throttle = 0.0f;
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}
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}
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/*
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