From cbb0bfb809cc451ef561d9a6867167d2279aeef8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 19 Feb 2019 20:59:19 +1100
Subject: [PATCH] Plane: is_flying_vtol: if spool mode is shut down we are not
 flying

The subsequent check for get_throttle passes if you switch from QHOVER
to MANUAL on the ground while armed.  get_throttle returns > 0.01 - but
the motors are shut down so no output occurs.
---
 ArduPlane/quadplane.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 82de93d1de..450f9b85aa 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1053,6 +1053,10 @@ bool QuadPlane::is_flying_vtol(void) const
     if (!available()) {
         return false;
     }
+    if (motors->get_spool_mode() == AP_Motors::SHUT_DOWN) {
+        // assume that with no motor outputs we're not flying in VTOL mode
+        return false;
+    }
     if (motors->get_throttle() > 0.01f) {
         // if we are demanding more than 1% throttle then don't consider aircraft landed
         return true;