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Quadplane: tailsitter: provide assistance at min throttle

This commit is contained in:
Peter Hall 2021-08-02 21:14:28 +01:00 committed by Andrew Tridgell
parent 2527117cf9
commit ed4345cb3b
1 changed files with 2 additions and 1 deletions
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3
ArduPlane/quadplane.cpp
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@ -1636,10 +1636,11 @@ bool QuadPlane::should_assist(float aspeed, bool have_airspeed)
return false;
}
if (!( (plane.control_mode->does_auto_throttle() && !plane.throttle_suppressed)
if (!tailsitter.enabled() && !( (plane.control_mode->does_auto_throttle() && !plane.throttle_suppressed)
|| plane.get_throttle_input()>0
|| plane.is_flying() ) ) {
// not in a flight mode and condition where it would be safe to turn on vertial lift motors
// skip this check for tailsitters because the forward and vertial motors are the same and are controled directly by throttle imput unlike other quadplanes
in_angle_assist = false;
angle_error_start_ms = 0;
return false;