diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index 93538273e1..e6ef81b24b 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -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;