From 485584f73226f7ac4db46adf225f77a2fed8f145 Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Mon, 18 Feb 2019 18:06:58 +1030 Subject: [PATCH] AP_Motors: Freeze motor lost index on enabling thrust boost --- libraries/AP_Motors/AP_MotorsMatrix.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp index e333e326fb..541529ae88 100644 --- a/libraries/AP_Motors/AP_MotorsMatrix.cpp +++ b/libraries/AP_Motors/AP_MotorsMatrix.cpp @@ -339,8 +339,8 @@ void AP_MotorsMatrix::check_for_failed_motor(float throttle_thrust_best_plus_adj // record highest thrust command if (_thrust_rpyt_out_filt[i] > rpyt_high) { rpyt_high = _thrust_rpyt_out_filt[i]; - // hold motor lost index constant while thrust balance is true - if (_thrust_balanced) { + // hold motor lost index constant while thrust boost is active + if (!_thrust_boost) { _motor_lost_index = i; } }