From 3e955d12fa35543161ea21da8ba5f1b4a9ae8c2b Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 22 Dec 2023 16:07:45 +0000
Subject: [PATCH] Plane: Quadaplane: add helper
 `allow_forward_throttle_in_vtol_mode`

---
 ArduPlane/quadplane.cpp | 6 ++++++
 ArduPlane/quadplane.h   | 5 +++++
 ArduPlane/servos.cpp    | 6 ++----
 3 files changed, 13 insertions(+), 4 deletions(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 25c7ff533b..4a372fc15f 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -4742,4 +4742,10 @@ float QuadPlane::get_throttle_input() const
     return ret;
 }
 
+// return true if forward throttle from forward_throttle_pct() should be used
+bool QuadPlane::allow_forward_throttle_in_vtol_mode() const
+{
+    return in_vtol_mode() && motors->armed() && (motors->get_desired_spool_state() != AP_Motors::DesiredSpoolState::SHUT_DOWN);
+}
+
 #endif  // HAL_QUADPLANE_ENABLED
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index 2c5a624ff4..140c47e585 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -729,6 +729,11 @@ private:
      */
     void setup_rp_fw_angle_gains(void);
 
+    /*
+      return true if forward throttle from forward_throttle_pct() should be used
+     */
+    bool allow_forward_throttle_in_vtol_mode() const;
+
 public:
     void motor_test_output();
     MAV_RESULT mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq, uint8_t throttle_type,
diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index c8f03bb896..d77ed1a172 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -591,10 +591,8 @@ void Plane::set_throttle(void)
 #if HAL_QUADPLANE_ENABLED
     } else if (quadplane.in_vtol_mode()) {
         float fwd_thr = 0;
-        // if armed and not spooled down ask quadplane code for forward throttle
-        if (quadplane.motors->armed() &&
-            quadplane.motors->get_desired_spool_state() != AP_Motors::DesiredSpoolState::SHUT_DOWN) {
-
+        // if enabled ask quadplane code for forward throttle
+        if (quadplane.allow_forward_throttle_in_vtol_mode()) {
             fwd_thr = constrain_float(quadplane.forward_throttle_pct(), min_throttle, max_throttle);
         }
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, fwd_thr);