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Plane: enable yaw in qstabilize:air_mode at zero throttle

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Mark Whitehorn 2020-07-29 18:22:37 -06:00 committed by Andrew Tridgell
parent 4630e9af30
commit ee65940dfa
1 changed files with 7 additions and 3 deletions
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10
ArduPlane/quadplane.cpp
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@ -1221,7 +1221,8 @@ bool QuadPlane::is_flying_vtol(void) const
// if we are demanding more than 1% throttle then don't consider aircraft landed
return true;
}
if (plane.control_mode == &plane.mode_qacro) {
if (plane.control_mode->is_vtol_man_throttle() && air_mode == AirMode::ON) {
// in manual throttle modes with airmode on, don't consider aircraft landed
return true;
}
if (plane.control_mode == &plane.mode_guided && guided_takeoff) {
@ -1339,7 +1340,9 @@ void QuadPlane::control_loiter()
*/
float QuadPlane::get_pilot_input_yaw_rate_cds(void) const
{
if (plane.get_throttle_input() <= 0 && !plane.auto_throttle_mode &&
bool manual_air_mode = plane.control_mode->is_vtol_man_throttle() && (air_mode == AirMode::ON);
if (!manual_air_mode &&
plane.get_throttle_input() <= 0 && !plane.auto_throttle_mode &&
plane.arming.get_rudder_arming_type() != AP_Arming::RudderArming::IS_DISABLED) {
// the user may be trying to disarm
return 0;
@ -1373,7 +1376,8 @@ float QuadPlane::get_desired_yaw_rate_cds(void)
// use bank angle to get desired yaw rate
yaw_cds += desired_auto_yaw_rate_cds();
}
if (plane.get_throttle_input() <= 0 && !plane.auto_throttle_mode) {
bool manual_air_mode = plane.control_mode->is_vtol_man_throttle() && (air_mode == AirMode::ON);
if (plane.get_throttle_input() <= 0 && !plane.auto_throttle_mode && !manual_air_mode) {
// the user may be trying to disarm
return 0;
}