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Plane: In FBWB make target alt track current if soaring is enabled and suppressing throttle.

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This commit is contained in:
Samuel Tabor 2019-07-17 18:12:27 +01:00 committed by Andrew Tridgell
parent ed7e359f4d
commit e7418637ee
1 changed files with 3 additions and 1 deletions
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4
ArduPlane/navigation.cpp
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@ -313,9 +313,11 @@ void Plane::update_fbwb_speed_height(void)
int32_t alt_change_cm = g.flybywire_climb_rate * elevator_input * dt * 100;
change_target_altitude(alt_change_cm);
if (is_zero(elevator_input) && !is_zero(target_altitude.last_elevator_input)) {
if ((is_zero(elevator_input) && !is_zero(target_altitude.last_elevator_input)) ||
(g2.soaring_controller.is_active() && g2.soaring_controller.get_throttle_suppressed())) {
// the user has just released the elevator, lock in
// the current altitude
// or we're in soaring mode with throttle suppressed
set_target_altitude_current();
}