From fb1f6b57ad21fb476a548cfe19fd65cc7a2f6282 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 17 Nov 2021 18:44:08 +0000
Subject: [PATCH] Plane: Quadplane: never run Z controller if motors are not
 throttle unlimited

---
 ArduPlane/quadplane.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 635534d191..141f6dbd2b 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -884,6 +884,9 @@ void QuadPlane::hold_stabilize(float throttle_in)
 // run the multicopter Z controller
 void QuadPlane::run_z_controller(void)
 {
+    if (motors->get_spool_state() != AP_Motors::SpoolState::THROTTLE_UNLIMITED ) {
+        return;
+    }
     const uint32_t now = AP_HAL::millis();
     if (tailsitter.in_vtol_transition(now)) {
         // never run Z controller in tailsitter transtion