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Plane: move forward throttle output in VTOL modes to QuadPlane update #26028

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merged 1 commit into from
Jan 30, 2024
Merged

Plane: move forward throttle output in VTOL modes to QuadPlane update #26028

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9 changes: 9 additions & 0 deletions ArduPlane/quadplane.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1866,6 +1866,15 @@ void QuadPlane::update(void)

tiltrotor.update();

if (in_vtol_mode()) {
// if enabled output forward throttle else 0
float fwd_thr = 0;
if (allow_forward_throttle_in_vtol_mode()) {
fwd_thr = forward_throttle_pct();
}
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, fwd_thr);
}

#if HAL_LOGGING_ENABLED
// motors logging
if (motors->armed()) {
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9 changes: 0 additions & 9 deletions ArduPlane/servos.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -605,15 +605,6 @@ void Plane::set_throttle(void)
guided_throttle_passthru) {
// manual pass through of throttle while in GUIDED
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));
#if HAL_QUADPLANE_ENABLED
} else if (quadplane.in_vtol_mode()) {
float fwd_thr = 0;
// if enabled ask quadplane code for forward throttle
if (quadplane.allow_forward_throttle_in_vtol_mode()) {
fwd_thr = quadplane.forward_throttle_pct();
}
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, fwd_thr);
#endif // HAL_QUADPLANE_ENABLED
}

if (control_mode->use_battery_compensation()) {
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