From 4848ac9166b0654dbb3c599d0457564ae8c9d46c Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 17 Nov 2021 18:44:48 +0000
Subject: [PATCH] Plane: quadplane: don't use `is_active_z()`, becasue its
 wrong

---
 ArduPlane/quadplane.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 141f6dbd2b..7ec7d28edd 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -892,7 +892,7 @@ void QuadPlane::run_z_controller(void)
         // never run Z controller in tailsitter transtion
         return;
     }
-    if (!pos_control->is_active_z()) {
+    if ((now - last_pidz_active_ms) > 20) {
         // set vertical speed and acceleration limits
         pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_velocity_z_max_up, pilot_accel_z);