From 841828541d523d53350638863b3e8214731e7179 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 29 Sep 2016 05:18:38 +1000 Subject: [PATCH] Plane: fixed auto ICE engine cut in QLAND final --- ArduPlane/quadplane.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index 22a8dec91d..6cadfd8a95 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -759,6 +759,10 @@ void QuadPlane::control_loiter() float height_above_ground = plane.relative_ground_altitude(plane.g.rangefinder_landing); if (height_above_ground < land_final_alt && poscontrol.state < QPOS_LAND_FINAL) { poscontrol.state = QPOS_LAND_FINAL; + // cut IC engine if enabled + if (land_icengine_cut != 0) { + plane.g2.ice_control.engine_control(0, 0, 0); + } } float descent_rate = (poscontrol.state == QPOS_LAND_FINAL)? land_speed_cms:landing_descent_rate_cms(height_above_ground); pos_control->set_alt_target_from_climb_rate(-descent_rate, plane.G_Dt, true);