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Plane: when ICE overrides throttle zero the vfwd integrator

This commit is contained in:
Andrew Tridgell 2022-07-05 16:13:12 +10:00 committed by Randy Mackay
parent ef473a4372
commit 49255d3315
1 changed files with 3 additions and 0 deletions
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3
ArduPlane/servos.cpp
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@ -909,6 +909,9 @@ void Plane::set_servos(void)
if (g2.ice_control.throttle_override(override_pct)) { if (g2.ice_control.throttle_override(override_pct)) {
// the ICE controller wants to override the throttle for starting // the ICE controller wants to override the throttle for starting
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, override_pct); SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, override_pct);
#if HAL_QUADPLANE_ENABLED
quadplane.vel_forward.integrator = 0;
#endif
} }
// run output mixer and send values to the hal for output // run output mixer and send values to the hal for output