From 5e8e08897823c4eee68843b6f00c29cd8d70efda Mon Sep 17 00:00:00 2001
From: Hwurzburg <hwurzburg@yahoo.com>
Date: Thu, 12 Nov 2020 15:57:34 -0600
Subject: [PATCH] ArduPlane:Add safety limit on tailsitter VTOL transition
 throttle

Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
---
 ArduPlane/tailsitter.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ArduPlane/tailsitter.cpp b/ArduPlane/tailsitter.cpp
index e65ecd7fe2..8884269b4c 100644
--- a/ArduPlane/tailsitter.cpp
+++ b/ArduPlane/tailsitter.cpp
@@ -84,6 +84,7 @@ void QuadPlane::tailsitter_output(void)
               integrator to the same throttle level
             */
             throttle = motors->get_throttle_hover() * 100;
+            throttle = MAX(throttle,plane.aparm.throttle_cruise.get());
             SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, 0);
             pos_control->get_accel_z_pid().set_integrator(throttle*10);