From 9b7f305af670172b113d10e0468856ec367ab76e Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 28 Nov 2023 18:11:21 +0000
Subject: [PATCH] Plane: Quadplane: add `get_throttle_input` method that
 behaves the same as Plane::get_throttle_input did

---
 ArduPlane/quadplane.cpp | 24 +++++++++++++++++++-----
 ArduPlane/quadplane.h   |  3 +++
 2 files changed, 22 insertions(+), 5 deletions(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 0a5c724fc82b6..48259c89a4462 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1219,7 +1219,7 @@ bool QuadPlane::is_flying_vtol(void) const
     }
     if (plane.control_mode->is_vtol_man_mode()) {
         // in manual flight modes only consider aircraft landed when pilot demanded throttle is zero
-        return is_positive(plane.get_throttle_input());
+        return is_positive(get_throttle_input());
     }
     if (in_vtol_mode() && millis() - landing_detect.lower_limit_start_ms > 5000) {
         // use landing detector
@@ -1289,7 +1289,7 @@ float QuadPlane::get_pilot_input_yaw_rate_cds(void) const
     const auto rudder_in = plane.channel_rudder->get_control_in();
     bool manual_air_mode = plane.control_mode->is_vtol_man_throttle() && air_mode_active();
     if (!manual_air_mode &&
-        !is_positive(plane.get_throttle_input()) &&
+        !is_positive(get_throttle_input()) &&
         (!plane.control_mode->does_auto_throttle() || motors->limit.throttle_lower) &&
         plane.arming.get_rudder_arming_type() == AP_Arming::RudderArming::ARMDISARM &&
         rudder_in < 0 &&
@@ -1366,7 +1366,7 @@ float QuadPlane::get_pilot_desired_climb_rate_cms(void) const
  */
 void QuadPlane::init_throttle_wait(void)
 {
-    if (plane.get_throttle_input() >= 10 ||
+    if (get_throttle_input() >= 10 ||
         plane.is_flying()) {
         throttle_wait = false;
     } else {
@@ -1920,7 +1920,7 @@ void QuadPlane::update_throttle_suppression(void)
        consider non-zero throttle to mean that pilot is commanding
        takeoff unless in a manual thottle mode
     */
-    if (!is_zero(plane.get_throttle_input()) &&
+    if (!is_zero(get_throttle_input()) &&
         (rc().arming_check_throttle() ||
          plane.control_mode->is_vtol_man_throttle() ||
          plane.channel_throttle->norm_input_dz() > 0)) {
@@ -4061,7 +4061,7 @@ void QuadPlane::update_throttle_mix(void)
 
     if (plane.control_mode->is_vtol_man_throttle()) {
         // manual throttle
-        if (!is_positive(plane.get_throttle_input()) && !air_mode_active()) {
+        if (!is_positive(get_throttle_input()) && !air_mode_active()) {
             attitude_control->set_throttle_mix_min();
         } else {
             attitude_control->set_throttle_mix_man();
@@ -4729,4 +4729,18 @@ bool QuadPlane::should_disable_TECS() const
     return false;
 }
 
+// Get pilot throttle input with deadzone, this will return 50% throttle in failsafe!
+// This is a re-implmentation of Plane::get_throttle_input
+// Ignoring the no_deadzone case means we don't need to check for valid RC
+// This is handled by Plane::control_failsafe setting of control in
+float QuadPlane::get_throttle_input() const
+{
+    float ret = plane.channel_throttle->get_control_in();
+    if (plane.reversed_throttle) {
+        // RC option for reverse throttle has been set
+        ret = -ret;
+    }
+    return ret;
+}
+
 #endif  // HAL_QUADPLANE_ENABLED
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index b919be2c44586..ad5e6251af2df 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -190,6 +190,9 @@ class QuadPlane
      */
     bool should_disable_TECS() const;
 
+    // Get pilot throttle input with deadzone, this will return 50% throttle in failsafe!
+    float get_throttle_input() const;
+
 private:
     AP_AHRS &ahrs;