From c84e5b337ea55caf0925d6b308616e4ae729b0ec Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Thu, 18 Jan 2024 12:11:29 +0000
Subject: [PATCH] Plane: move forward throttle output in VTOL modes to
 QuadPlane update

---
 ArduPlane/quadplane.cpp | 9 +++++++++
 ArduPlane/servos.cpp    | 9 ---------
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 70ccd2d10d..1a4fefe7dc 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1872,6 +1872,15 @@ void QuadPlane::update(void)
 
     tiltrotor.update();
 
+    if (in_vtol_mode()) {
+        // if enabled output forward throttle else 0
+        float fwd_thr = 0;
+        if (allow_forward_throttle_in_vtol_mode()) {
+            fwd_thr = forward_throttle_pct();
+        }
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, fwd_thr);
+    }
+
 #if HAL_LOGGING_ENABLED
     // motors logging
     if (motors->armed()) {
diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index 08b102acd9..c4dc017244 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -605,15 +605,6 @@ void Plane::set_throttle(void)
                guided_throttle_passthru) {
         // manual pass through of throttle while in GUIDED
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));
-#if HAL_QUADPLANE_ENABLED
-    } else if (quadplane.in_vtol_mode()) {
-        float fwd_thr = 0;
-        // if enabled ask quadplane code for forward throttle
-        if (quadplane.allow_forward_throttle_in_vtol_mode()) {
-            fwd_thr = quadplane.forward_throttle_pct();
-        }
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, fwd_thr);
-#endif  // HAL_QUADPLANE_ENABLED
     }
 
     if (control_mode->use_battery_compensation()) {