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Plane: fix throttle going bellow min in fbwa RC failsafe

This commit is contained in:
Iampete1 2023-07-24 18:02:39 +01:00 committed by Andrew Tridgell
parent 7de2dac9ca
commit e194cb704c
1 changed files with 1 additions and 1 deletions
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2
ArduPlane/servos.cpp
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@ -546,7 +546,7 @@ void Plane::set_servos_controlled(void)
control_mode == &mode_autotune) { control_mode == &mode_autotune) {
// a manual throttle mode // a manual throttle mode
if (!rc().has_valid_input()) { if (!rc().has_valid_input()) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0.0); SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, g.throttle_passthru_stabilize ? 0.0 : MAX(min_throttle,0));
} else if (g.throttle_passthru_stabilize) { } else if (g.throttle_passthru_stabilize) {
// manual pass through of throttle while in FBWA or // manual pass through of throttle while in FBWA or
// STABILIZE mode with THR_PASS_STAB set // STABILIZE mode with THR_PASS_STAB set