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Plane: always stabilize with tailsitters

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This commit is contained in:
Andrew Tridgell 2017-04-14 12:48:08 +10:00
parent 7992a21f6f
commit b15b11e32d
1 changed files with 6 additions and 1 deletions
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7
ArduPlane/quadplane.cpp
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@ -693,7 +693,12 @@ void QuadPlane::hold_stabilize(float throttle_in)
if (throttle_in <= 0) { if (throttle_in <= 0) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control->set_throttle_out_unstabilized(0, true, 0); if (is_tailsitter()) {
// always stabilize with tailsitters so we can do belly takeoffs
attitude_control->set_throttle_out(0, true, 0);
} else {
attitude_control->set_throttle_out_unstabilized(0, true, 0);
}
} else { } else {
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
attitude_control->set_throttle_out(throttle_in, true, 0); attitude_control->set_throttle_out(throttle_in, true, 0);