From e9b8a20312f6248175091d1e1b02d9430816073c Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 2 Sep 2020 21:56:08 +1000 Subject: [PATCH] Plane: fixed hover learn in quadplanes for THR_MIN>0 petrol quadplanes commonly have THR_MIN>0, and without this change cannot ever learn the hover throttle --- ArduPlane/quadplane.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index 5f939aa833..6df05e8d74 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -1975,7 +1975,8 @@ void QuadPlane::update_throttle_hover() } // do not update if quadplane forward motor is running (wing may be generating lift) - if (!is_tailsitter() && (SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) != 0)) { + // we use the THR_MIN value to account for petrol motors idling at THR_MIN + if (!is_tailsitter() && (SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) > MAX(0,plane.aparm.throttle_min+10))) { return; }