From dac7f45326aacb2678c56ed380ffebe9a5523c93 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 21 Sep 2016 11:46:15 +1000
Subject: [PATCH] Plane: fixed use of multicopter mix_max

we need a settable mix_max for some vehicles
---
 ArduPlane/quadplane.cpp | 15 ++++++++++++---
 ArduPlane/quadplane.h   |  1 +
 2 files changed, 13 insertions(+), 3 deletions(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index b41714ed78..1b041c01a8 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1006,7 +1006,7 @@ void QuadPlane::update_transition(void)
         }
         assisted_flight = true;
         hold_hover(assist_climb_rate_cms());
-        attitude_control->rate_controller_run();
+        run_rate_controller();
         motors_output();
         last_throttle = motors->get_throttle();
         break;
@@ -1027,7 +1027,7 @@ void QuadPlane::update_transition(void)
         }
         assisted_flight = true;
         hold_stabilize(throttle_scaled);
-        attitude_control->rate_controller_run();
+        run_rate_controller();
         motors_output();
         break;
     }
@@ -1041,6 +1041,15 @@ void QuadPlane::update_transition(void)
     }
 }
 
+/*
+  run multicopter rate controller
+ */
+void QuadPlane::run_rate_controller(void)
+{
+    attitude_control->set_throttle_mix_max();
+    attitude_control->rate_controller_run();
+}
+
 /*
   update motor output for quadplane
  */
@@ -1067,7 +1076,7 @@ void QuadPlane::update(void)
         assisted_flight = false;
         
         // run low level rate controllers
-        attitude_control->rate_controller_run();
+        run_rate_controller();
 
         // output to motors
         motors_output();
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index 05103f65e4..07bb47b91a 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -168,6 +168,7 @@ private:
 
     void init_hover(void);
     void control_hover(void);
+    void run_rate_controller(void);
 
     void init_loiter(void);
     void init_land(void);