From 87b49c64f8abd78e8a024f23f709f965fd85d5f3 Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Tue, 18 Jun 2019 01:28:17 +0930 Subject: [PATCH] Plane: limit ATC_MOT_MIX_MAX in case of a fly away --- ArduPlane/quadplane.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index 9bc41204df..0249861f76 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -1567,7 +1567,7 @@ void QuadPlane::update_transition(void) plane.rollController.reset_I(); // give full authority to attitude control - attitude_control->set_throttle_mix_max(); + attitude_control->set_throttle_mix_max(1.0f); break; } @@ -3099,7 +3099,7 @@ void QuadPlane::update_throttle_thr_mix(void) bool descent_not_demanded = pos_control->get_desired_velocity().z >= 0.0f; if ( large_angle_request || large_angle_error || accel_moving || descent_not_demanded) { - attitude_control->set_throttle_mix_max(); + attitude_control->set_throttle_mix_max(1.0); } else { attitude_control->set_throttle_mix_min(); }