Plane: Enforce THR_MIN/THR_MAX in VTOL modes

7 years ago · 624aef401d
1 changed files with 2 additions and 1 deletions
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@ -378,7 +378,8 @@ void Plane::set_servos_controlled(void)
				@@ -378,7 +378,8 @@ void Plane::set_servos_controlled(void)
        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, channel_throttle->get_control_in_zero_dz());
    } else if (quadplane.in_vtol_mode()) {
        // ask quadplane code for forward throttle
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, quadplane.forward_throttle_pct());
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 
+            constrain_int16(quadplane.forward_throttle_pct(), min_throttle, max_throttle));
    }

    // suppress throttle when soaring is active