From 4352129c4d664e4ce768422c8138a882d6af62e0 Mon Sep 17 00:00:00 2001 From: George Zogopoulos Date: Mon, 7 Oct 2024 11:08:29 +0200 Subject: [PATCH] Plane: Fix SLT_Transition::active_frwd() check --- ArduPlane/quadplane.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index a3e4c39e2e..eb6a16b47c 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -4374,7 +4374,9 @@ bool SLT_Transition::allow_update_throttle_mix() const bool SLT_Transition::active_frwd() const { - return quadplane.assisted_flight && ((transition_state == TRANSITION_AIRSPEED_WAIT) || (transition_state == TRANSITION_TIMER)); + return quadplane.assisted_flight && // We need to be in assisted flight... + ((transition_state == TRANSITION_AIRSPEED_WAIT) || (transition_state == TRANSITION_TIMER)) // ... and a transition must be active... + && !quadplane.in_vtol_airbrake(); // ... but not executing an QPOS_AIRBRAKE maneuver during an automated landing. } /*