From 6a1e80a03af8a22651f3b142091a949865cf7650 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 5 Jul 2022 16:13:12 +1000
Subject: [PATCH] Plane: when ICE overrides throttle zero the vfwd integrator

---
 ArduPlane/servos.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index 5c3a0c8354..176dd0169c 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -915,6 +915,9 @@ void Plane::set_servos(void)
     if (g2.ice_control.throttle_override(override_pct)) {
         // the ICE controller wants to override the throttle for starting, idle, or redline
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, override_pct);
+#if HAL_QUADPLANE_ENABLED
+        quadplane.vel_forward.integrator = 0;
+#endif
     }
 
     // run output mixer and send values to the hal for output