From 7e79a130533958e7a06500c85407483ac297095d Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 17 Jan 2024 20:18:18 +0000
Subject: [PATCH] Plane: ask mode if battery voltage compensation should be
 done

---
 ArduPlane/mode.cpp   | 32 ++++++++++++++++++++++++++++++++
 ArduPlane/mode.h     |  3 +++
 ArduPlane/servos.cpp |  3 ++-
 3 files changed, 37 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/mode.cpp b/ArduPlane/mode.cpp
index 2d97c9cb1a..ec10b69631 100644
--- a/ArduPlane/mode.cpp
+++ b/ArduPlane/mode.cpp
@@ -290,3 +290,35 @@ bool Mode::use_throttle_limits() const
 
     return true;
 }
+
+// true if voltage correction should be applied to throttle
+bool Mode::use_battery_compensation() const
+{
+#if AP_SCRIPTING_ENABLED
+    if (plane.nav_scripting_active()) {
+        return false;
+    }
+#endif
+
+    if (this == &plane.mode_stabilize ||
+        this == &plane.mode_training ||
+        this == &plane.mode_acro ||
+        this == &plane.mode_fbwa ||
+        this == &plane.mode_autotune) {
+        // a manual throttle mode
+        return false;
+    }
+
+    if (is_guided_mode() && plane.guided_throttle_passthru) {
+        // manual pass through of throttle while in GUIDED
+        return false;
+    }
+
+#if HAL_QUADPLANE_ENABLED
+    if (quadplane.in_vtol_mode()) {
+        return false;
+    }
+#endif
+
+    return true;
+}
diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
index 1de286f866..d2a4d3d11e 100644
--- a/ArduPlane/mode.h
+++ b/ArduPlane/mode.h
@@ -138,6 +138,9 @@ public:
     // true if throttle min/max limits should be applied
     bool use_throttle_limits() const;
 
+    // true if voltage correction should be applied to throttle
+    bool use_battery_compensation() const;
+
 protected:
 
     // subclasses override this to perform checks before entering the mode
diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index c04cc8dbb3..08b102acd9 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -614,8 +614,9 @@ void Plane::set_throttle(void)
         }
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, fwd_thr);
 #endif  // HAL_QUADPLANE_ENABLED
+    }
 
-    } else {
+    if (control_mode->use_battery_compensation()) {
         // Apply voltage compensation to throttle output from flight mode
         const float throttle = g2.fwd_batt_cmp.apply_throttle(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle));
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle);