From 6623f1156ca8d1ca5a52a562dbc1153c4a4a1dd9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 24 Jan 2023 17:38:25 +1100
Subject: [PATCH] Plane: transition pitch limit should not apply to FBWA

pilot should be able to override pitch, very important on motor
failure to control glide
---
 ArduPlane/quadplane.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 14ade88789..c887e8b087 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -4275,6 +4275,11 @@ void SLT_Transition::set_FW_roll_pitch(int32_t& nav_pitch_cd, int32_t& nav_roll_
         return;
     }
 
+    if (!plane.control_mode->does_auto_throttle()) {
+        // don't limit pitch when in manually controlled modes like FBWA, ACRO
+        return;
+    }
+
     float max_pitch;
     if (transition_state < TRANSITION_TIMER) {
         if (plane.ahrs.groundspeed() < 3.0) {