Plane: when ICE overrides throttle zero the vfwd integrator

This commit is contained in:
Andrew Tridgell 2022-07-05 16:13:12 +10:00
parent 32e1767647
commit 6a1e80a03a

View File

@ -915,6 +915,9 @@ void Plane::set_servos(void)
if (g2.ice_control.throttle_override(override_pct)) {
// the ICE controller wants to override the throttle for starting, idle, or redline
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, override_pct);
#if HAL_QUADPLANE_ENABLED
quadplane.vel_forward.integrator = 0;
#endif
}
// run output mixer and send values to the hal for output