From e95c4658a911c9bd1da6d78f885b03d9da33efc2 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 23 Nov 2021 09:15:34 +1100 Subject: [PATCH] Plane: limited VFWD integrator to cruise throttle in some situations (such as when landing approach is disabled) the vfwd integrator can wind up to extreme values. This can put a huge load on an electric quadplane as it is running both forward and vtol motors, and the downforce from being nose down can be extreme. It should never need to go above the cruise throttle in any reasonable situation, so limit it to cruise to ensure we don't apply too much forward throttle --- ArduPlane/quadplane.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index fa4e3c655a..dc71a92778 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -3734,7 +3734,7 @@ int8_t QuadPlane::forward_throttle_pct() // inhibit reverse throttle and allow petrol engines with min > 0 int8_t fwd_throttle_min = plane.have_reverse_thrust() ? 0 : plane.aparm.throttle_min; - vel_forward.integrator = constrain_float(vel_forward.integrator, fwd_throttle_min, plane.aparm.throttle_max); + vel_forward.integrator = constrain_float(vel_forward.integrator, fwd_throttle_min, plane.aparm.throttle_cruise); if (in_vtol_land_approach()) { // when we are doing horizontal positioning in a VTOL land