Plane: tailsitter: ask for FW state don't check

ArduPlane/mode.cpp

@@ -88,14 +88,12 @@ bool Mode::enter()
 
 bool Mode::is_vtol_man_throttle() const
 {
-    if (!plane.quadplane.in_vtol_mode() &&
-        plane.quadplane.is_tailsitter() && 
-        plane.quadplane.tailsitter_transition_fw_complete() && 
+    if (plane.quadplane.is_tailsitter_in_fw_flight() &&
         plane.quadplane.assisted_flight) {
-        // a tailsitter that has fully transisisoned to Q-assisted forward flight
-        // in this case the forward throttle directly drives the vertical throttle
+        // We are a tailsitter that has fully transitioned to Q-assisted forward flight.
+        // In this case the forward throttle directly drives the vertical throttle so
         // set vertical throttle state to match the forward throttle state. Confusingly the booleans are inverted,
-        // forward throttle uses 'auto_throttle_mode' whereas vertical used 'is_vtol_man_throttle'
+        // forward throttle uses 'auto_throttle_mode' whereas vertical uses 'is_vtol_man_throttle'.
         return !plane.auto_throttle_mode;
     }
     return false;

ArduPlane/quadplane.h

@@ -130,6 +130,9 @@ public:
     // check if we have completed transition to fixed wing
     bool tailsitter_transition_fw_complete(void);
 
+    // return true if we are a tailsitter in FW flight
+    bool is_tailsitter_in_fw_flight(void) const;
+
     // check if we have completed transition to vtol
     bool tailsitter_transition_vtol_complete(void) const;
 

ArduPlane/tailsitter.cpp

@@ -114,7 +114,7 @@ void QuadPlane::tailsitter_output(void)
     // handle Copter controller
     // the MultiCopter rate controller has already been run in an earlier call
     // to motors_output() from quadplane.update(), unless we are in assisted flight
-    if (assisted_flight && tailsitter_transition_fw_complete()) {
+    if (assisted_flight && is_tailsitter_in_fw_flight()) {
         hold_stabilize(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) * 0.01f);
         motors_output(true);
 
@@ -267,6 +267,14 @@ bool QuadPlane::in_tailsitter_vtol_transition(void) const
     return is_tailsitter() && in_vtol_mode() && transition_state == TRANSITION_ANGLE_WAIT_VTOL;
 }
 
+/*
+  return true if we are a tailsitter in FW flight
+ */
+bool QuadPlane::is_tailsitter_in_fw_flight(void) const
+{
+    return is_tailsitter() && !in_vtol_mode() && transition_state == TRANSITION_DONE;
+}
+
 /*
   account for speed scaling of control surfaces in VTOL modes
 */