Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: also limit throttle during quadplane transitions

This commit is contained in:
Mark Whitehorn 2019-12-19 10:14:20 -07:00 committed by Andrew Tridgell
parent 839e03f3e4
commit ab2eb6185f
1 changed files with 5 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
ArduPlane/servos.cpp
View File

@ -448,8 +448,11 @@ void Plane::set_servos_controlled(void)
min_throttle = 0;
}
if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
if(aparm.takeoff_throttle_max != 0) {
if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF ||
flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND ||
quadplane.in_transition()) {
if (aparm.takeoff_throttle_max != 0) {
max_throttle = aparm.takeoff_throttle_max;
} else {
max_throttle = aparm.throttle_max;