From a368549a9d5aedd877a1f5102d4fe9afb4582236 Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Tue, 24 Aug 2021 00:12:10 +0100 Subject: [PATCH] Plane: tailsitter: only flag tilt limit on vectored vehicles --- ArduPlane/tailsitter.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduPlane/tailsitter.cpp b/ArduPlane/tailsitter.cpp index 2624e32015..ebcdb94f57 100644 --- a/ArduPlane/tailsitter.cpp +++ b/ArduPlane/tailsitter.cpp @@ -374,7 +374,7 @@ void Tailsitter::output(void) SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, tilt_right); // Check for saturated limits - bool tilt_lim = (labs(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_tiltMotorLeft)) == SERVO_MAX) || (labs(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_tiltMotorRight)) == SERVO_MAX); + bool tilt_lim = _is_vectored && ((labs(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_tiltMotorLeft)) == SERVO_MAX) || (labs(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_tiltMotorRight)) == SERVO_MAX)); bool roll_lim = labs(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_rudder)) == SERVO_MAX; bool pitch_lim = labs(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_elevator)) == SERVO_MAX; bool yaw_lim = labs(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_aileron)) == SERVO_MAX;