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Plane: only apply THR_MIN if ICE has allow_throttle_while_disarmed

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this fixes the disarmed throttle to be zero on normal aircraft
This commit is contained in:
Andrew Tridgell 2022-11-10 13:52:05 +11:00
parent f366cbbcb4
commit 15a2e0c1c8
1 changed files with 4 additions and 1 deletions
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5
ArduPlane/servos.cpp
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@ -890,7 +890,11 @@ void Plane::set_servos(void)
// slew rate limit throttle
throttle_slew_limit(SRV_Channel::k_throttle);
int8_t min_throttle = 0;
#if AP_ICENGINE_ENABLED
if (g2.ice_control.allow_throttle_while_disarmed()) {
min_throttle = MAX(aparm.throttle_min.get(), 0);
}
const float base_throttle = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle);
#endif
@ -911,7 +915,6 @@ void Plane::set_servos(void)
case AP_Arming::Required::YES_MIN_PWM:
default:
int8_t min_throttle = MAX(aparm.throttle_min.get(),0);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, min_throttle);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, min_throttle);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, min_throttle);