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AC_AttitudeControl: only allow angle boost when not autorotating

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Bill Geyer 2024-03-20 11:37:24 -04:00 committed by Randy Mackay
parent a19b72e895
commit 805480e5a2
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
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@ -542,7 +542,7 @@ void AC_AttitudeControl_Heli::set_throttle_out(float throttle_in, bool apply_ang
update_althold_lean_angle_max(throttle_in); update_althold_lean_angle_max(throttle_in);
_motors.set_throttle_filter_cutoff(filter_cutoff); _motors.set_throttle_filter_cutoff(filter_cutoff);
if (apply_angle_boost) { if (apply_angle_boost && !((AP_MotorsHeli&)_motors).get_in_autorotation()) {
// Apply angle boost // Apply angle boost
throttle_in = get_throttle_boosted(throttle_in); throttle_in = get_throttle_boosted(throttle_in);
} else { } else {