From 3397bce2351aaf59d21391c46b9c60666544729c Mon Sep 17 00:00:00 2001 From: Henry Wurzburg Date: Wed, 15 Apr 2020 18:39:05 -0500 Subject: [PATCH] Plane: Quadplane tailsit transition to FW throttle level change --- ArduPlane/quadplane.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index 03d1756c48..43da788026 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -1711,7 +1711,8 @@ void QuadPlane::update_transition(void) attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(plane.nav_roll_cd, plane.nav_pitch_cd, 0); - attitude_control->set_throttle_out(motors->get_throttle_hover(), true, 0); + // set throttle at either hover throttle or current throttle, whichever is higher, through the transition + attitude_control->set_throttle_out(MAX(motors->get_throttle_hover(),motors->get_throttle()), true, 0); break; }