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Plane: prevent fwd motor from spinning up on ground in quadplane landing 

if the rangefinder starts to measure below it's min range then the fwd
motor can spin up.

Thanks to Josh for reporting this!
This commit is contained in:
Andrew Tridgell 2019-09-11 14:02:49 +10:00
parent 819d1b5246
commit 34b0967d09
1 changed files with 4 additions and 0 deletions
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4
ArduPlane/quadplane.cpp
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@ -2795,6 +2795,10 @@ int8_t QuadPlane::forward_throttle_pct(void)
// lidar could cause the aircraft not to be able to
// approach the landing point when landing below the takeoff point
vel_forward.last_pct = vel_forward.integrator;
} else if (in_vtol_land_descent() && poscontrol.state == QPOS_LAND_FINAL && motors->limit.throttle_lower) {
// we're in the settling phase of landing, disable fwd motor
vel_forward.last_pct = 0;
vel_forward.integrator = 0;
} else {
// If we are below alt_cutoff then scale down the effect until
// it turns off at alt_cutoff and decay the integrator