Plane: also limit throttle during quadplane transitions

5 years ago · ab2eb6185f
1 changed files with 5 additions and 2 deletions
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@ -448,8 +448,11 @@ void Plane::set_servos_controlled(void)
				@@ -448,8 +448,11 @@ void Plane::set_servos_controlled(void)
        min_throttle = 0;
    }
    
-    if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
-        if(aparm.takeoff_throttle_max != 0) {
+    if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || 
+        flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND ||
+        quadplane.in_transition()) {
+
+        if (aparm.takeoff_throttle_max != 0) {
            max_throttle = aparm.takeoff_throttle_max;
        } else {
            max_throttle = aparm.throttle_max;