From 5865e010b06c42d5a5b9f7e0d8addce73a706221 Mon Sep 17 00:00:00 2001 From: Samuel Tabor Date: Mon, 17 May 2021 17:23:26 +0100 Subject: [PATCH] AP_TECS: Ensure no throttle output if is_gliding flag is true when flying without airspeed. --- libraries/AP_TECS/AP_TECS.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp index 36ff376d18..04c6b5b1e3 100644 --- a/libraries/AP_TECS/AP_TECS.cpp +++ b/libraries/AP_TECS/AP_TECS.cpp @@ -770,6 +770,7 @@ void AP_TECS::_update_throttle_without_airspeed(int16_t throttle_nudge) if (_flags.is_gliding) { _throttle_dem = 0.0f; + return; } // Calculate additional throttle for turn drag compensation including throttle nudging