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Plane: deny reverse thrust in takeoff mode

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This commit is contained in:
Andrew Tridgell 2019-05-06 14:39:14 +10:00
parent ff400243e0
commit dc2aaa7d5a
1 changed files with 5 additions and 2 deletions
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7
ArduPlane/reverse_thrust.cpp
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@ -71,7 +71,6 @@ bool Plane::allow_reverse_thrust(void) const
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_RTL); allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_RTL);
break; break;
case Mode::Number::CIRCLE: case Mode::Number::CIRCLE:
case Mode::Number::TAKEOFF:
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_CIRCLE); allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_CIRCLE);
break; break;
case Mode::Number::CRUISE: case Mode::Number::CRUISE:
@ -84,6 +83,9 @@ bool Plane::allow_reverse_thrust(void) const
case Mode::Number::GUIDED: case Mode::Number::GUIDED:
allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_GUIDED); allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_GUIDED);
break; break;
case Mode::Number::TAKEOFF:
allow = false;
break;
default: default:
// all other control_modes are auto_throttle_mode=false. // all other control_modes are auto_throttle_mode=false.
// If we are not controlling throttle, don't limit it. // If we are not controlling throttle, don't limit it.
@ -91,7 +93,8 @@ bool Plane::allow_reverse_thrust(void) const
break; break;
} }
return allow; // cope with bitwise ops above
return allow != false;
} }
/* /*