From e93888dee9f32f7f0486fa227ba09f729672c71d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 8 Mar 2013 14:59:19 +1100
Subject: [PATCH] Plane: make a throttle_cruise of 0 mean always zero throttle

this can be used for parachute landing missions

Thanks to Chris Miser for the suggestion
---
 ArduPlane/Attitude.pde | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/ArduPlane/Attitude.pde b/ArduPlane/Attitude.pde
index f288473f5d..b5422702fc 100644
--- a/ArduPlane/Attitude.pde
+++ b/ArduPlane/Attitude.pde
@@ -231,6 +231,14 @@ static void crash_checker()
 
 static void calc_throttle()
 {
+    if (g.throttle_cruise <= 1) {
+        // user has asked for zero throttle - this may be done by a
+        // mission which wants to turn off the engine for a parachute
+        // landing
+        g.channel_throttle.servo_out = 0;
+        return;
+    }
+
     if (!alt_control_airspeed()) {
         int16_t throttle_target = g.throttle_cruise + throttle_nudge;