From 674f75fce16cfc128b6a49237bb68b4c448e439d Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 21 Feb 2024 18:53:33 +0000
Subject: [PATCH] Plane: move manual mode throttle limits to main throttle
 limit function.

---
 ArduPlane/mode.h          |  2 +-
 ArduPlane/mode_manual.cpp | 27 ++++++++++++---------------
 2 files changed, 13 insertions(+), 16 deletions(-)

diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
index 3721eb8de3..597399cc21 100644
--- a/ArduPlane/mode.h
+++ b/ArduPlane/mode.h
@@ -400,7 +400,7 @@ public:
     void run() override;
 
     // true if throttle min/max limits should be applied
-    bool use_throttle_limits() const override { return false; }
+    bool use_throttle_limits() const override;
 
     // true if voltage correction should be applied to throttle
     bool use_battery_compensation() const override { return false; }
diff --git a/ArduPlane/mode_manual.cpp b/ArduPlane/mode_manual.cpp
index 1f8fcd702c..8c5a834102 100644
--- a/ArduPlane/mode_manual.cpp
+++ b/ArduPlane/mode_manual.cpp
@@ -6,22 +6,8 @@ void ModeManual::update()
     SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, plane.roll_in_expo(false));
     SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, plane.pitch_in_expo(false));
     output_rudder_and_steering(plane.rudder_in_expo(false));
-    float throttle = plane.get_throttle_input(true);
 
-
-#if HAL_QUADPLANE_ENABLED
-    if (quadplane.available() && quadplane.option_is_set(QuadPlane::OPTION::IDLE_GOV_MANUAL)) {
-        // for quadplanes it can be useful to run the idle governor in MANUAL mode
-        // as it prevents the VTOL motors from running
-        int8_t min_throttle = plane.aparm.throttle_min.get();
-
-        // apply idle governor
-#if AP_ICENGINE_ENABLED
-        plane.g2.ice_control.update_idle_governor(min_throttle);
-#endif
-        throttle = MAX(throttle, min_throttle);
-    }
-#endif
+    const float throttle = plane.get_throttle_input(true);
     SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle);
 
     plane.nav_roll_cd = ahrs.roll_sensor;
@@ -32,3 +18,14 @@ void ModeManual::run()
 {
     reset_controllers();
 }
+
+// true if throttle min/max limits should be applied
+bool ModeManual::use_throttle_limits() const
+{
+#if HAL_QUADPLANE_ENABLED
+    if (quadplane.available() && quadplane.option_is_set(QuadPlane::OPTION::IDLE_GOV_MANUAL)) {
+        return true;
+    }
+#endif
+    return false;
+}