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Plane: fixed zero throttle in QSTABILISE mode

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This commit is contained in:
Andrew Tridgell 2016-01-06 10:32:25 +11:00
parent cfb74406b6
commit 4da798129e
1 changed files with 5 additions and 1 deletions
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4
ArduPlane/quadplane.cpp
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@ -416,8 +416,12 @@ void QuadPlane::hold_stabilize(float throttle_in)
get_pilot_desired_yaw_rate_cds(), get_pilot_desired_yaw_rate_cds(),
smoothing_gain); smoothing_gain);
if (throttle_in <= 0) {
attitude_control->set_throttle_out_unstabilized(0, true, 0);
} else {
attitude_control->set_throttle_out(throttle_in, true, 0); attitude_control->set_throttle_out(throttle_in, true, 0);
} }
}
// quadplane stabilize mode // quadplane stabilize mode
void QuadPlane::control_stabilize(void) void QuadPlane::control_stabilize(void)