From 57cfe854b2044d391cd4fc1e2bd683f6168ee5fe Mon Sep 17 00:00:00 2001
From: Paul Riseborough <gncsolns@gmail.com>
Date: Mon, 28 Aug 2023 21:13:52 +1000
Subject: [PATCH] Plane: Add Q_FWD_THR_GAIN value arming check for tailsitters

---
 ArduPlane/AP_Arming.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
index 7ab5e92b8e..408fb86d45 100644
--- a/ArduPlane/AP_Arming.cpp
+++ b/ArduPlane/AP_Arming.cpp
@@ -218,6 +218,11 @@ bool AP_Arming_Plane::quadplane_checks(bool display_failure)
         ret = false;
     }
 
+    if ((plane.quadplane.tailsitter.enable > 0) && is_positive(plane.quadplane.q_fwd_thr_gain)) {
+        check_failed(ARMING_CHECK_PARAMETERS, display_failure, "set Q_FWD_THR_GAIN to 0");
+        ret = false;
+    }
+
     return ret;
 }
 #endif // HAL_QUADPLANE_ENABLED