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Plane: never use vfwd motor if vtol motors shutdown

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This commit is contained in:
Andrew Tridgell 2019-03-18 12:33:56 +11:00
parent 7908ad437e
commit b4103d04cc
1 changed files with 3 additions and 3 deletions
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6
ArduPlane/quadplane.cpp
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@ -2589,7 +2589,8 @@ int8_t QuadPlane::forward_throttle_pct(void)
vel_forward.gain <= 0 ||
plane.control_mode == QSTABILIZE ||
plane.control_mode == QHOVER ||
plane.control_mode == QAUTOTUNE) {
plane.control_mode == QAUTOTUNE ||
motors->get_desired_spool_state() < AP_Motors::DESIRED_GROUND_IDLE) {
return 0;
}
@ -2640,8 +2641,7 @@ int8_t QuadPlane::forward_throttle_pct(void)
vel_forward.integrator = constrain_float(vel_forward.integrator, fwd_throttle_min, plane.aparm.throttle_max);
if (in_vtol_auto() && is_vtol_land(plane.mission.get_current_nav_cmd().id) &&
(poscontrol.state == QPOS_POSITION1 || poscontrol.state == QPOS_POSITION2) &&
motors->get_desired_spool_state() >= AP_Motors::DESIRED_GROUND_IDLE) {
(poscontrol.state == QPOS_POSITION1 || poscontrol.state == QPOS_POSITION2)) {
// when we are doing horizontal positioning in a VTOL land
// we always allow the fwd motor to run. Otherwise a bad
// lidar could cause the aircraft not to be able to