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Plane: Quadplane disable forward motor assist in Q modes if rangefinder is out of range low

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Iampete1 2021-02-26 17:43:38 +00:00 committed by Andrew Tridgell
parent 97e7b48ca1
commit 8ebe64a274
1 changed files with 3 additions and 2 deletions
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ArduPlane/quadplane.cpp
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@ -3209,8 +3209,9 @@ int8_t QuadPlane::forward_throttle_pct()
// lidar could cause the aircraft not to be able to
// approach the landing point when landing below the takeoff point
vel_forward.last_pct = vel_forward.integrator;
} else if (in_vtol_land_final() && motors->limit.throttle_lower) {
// we're in the settling phase of landing, disable fwd motor
} else if ((in_vtol_land_final() && motors->limit.throttle_lower) ||
(plane.g.rangefinder_landing && (plane.rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::Status::OutOfRangeLow))) {
// we're in the settling phase of landing or using a rangefinder that is out of range low, disable fwd motor
vel_forward.last_pct = 0;
vel_forward.integrator = 0;
} else {