ArduPlane: option to keep landing throttle at thr_min during flare an…

…d touchdown, not zero.
ArduPilot · May 18, 2020 · 4ceee26 · 4ceee26
1 parent 0af3fb4
commit 4ceee26
Showing 1 changed file with 5 additions and 2 deletions.
diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
@@ -469,8 +469,11 @@ void Plane::set_servos_controlled(void)
             SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, 0);
         }
     } else if (suppress_throttle()) {
-        // throttle is suppressed in auto mode
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0 ); // default
+        // throttle is suppressed (above) to zero in final flare in auto mode, but we allow instead thr_min if user prefers, eg turbines:
+        if (landing.is_flaring() && landing.use_thr_min_during_flare() ) {
+            SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, aparm.throttle_min.get());
+        }
         if (g.throttle_suppress_manual) {
             // manual pass through of throttle while throttle is suppressed
             SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));