From 8e3f8f47c89afdfdca79bf43ea881ad95a9879cb Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 17 Apr 2017 11:31:57 +1000
Subject: [PATCH] Plane: tilt motors fast in final stages of quadplane
 transition

when transition of tilt quadplane has reached the stage where the tilted
motors are used solely for fwd thrust and rear motors are off we should
move the tilt to full forward rapidly
---
 ArduPlane/tiltrotor.cpp | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/ArduPlane/tiltrotor.cpp b/ArduPlane/tiltrotor.cpp
index 4083a61b13..e36075030f 100644
--- a/ArduPlane/tiltrotor.cpp
+++ b/ArduPlane/tiltrotor.cpp
@@ -17,9 +17,12 @@ float QuadPlane::tilt_max_change(bool up)
     } else {
         rate = tilt.max_rate_down_dps;
     }
-    if (plane.control_mode == MANUAL && tilt.tilt_type != TILT_TYPE_BINARY) {
-        // allow a minimum of 90 DPS in manual, to give fast control
-        rate = MAX(rate, 90);
+    if (tilt.tilt_type != TILT_TYPE_BINARY && !up) {
+        if (plane.control_mode == MANUAL || (!in_vtol_mode() && !assisted_flight)) {
+            // allow a minimum of 90 DPS in manual or if we are not
+            // stabilising, to give fast control
+            rate = MAX(rate, 90);
+        }
     }
     return rate * plane.G_Dt / 90.0f;
 }