Plane: fixed zero throttle in QSTABILISE mode

9 years ago · 4da798129e
1 changed files with 5 additions and 1 deletions
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@ -416,7 +416,11 @@ void QuadPlane::hold_stabilize(float throttle_in)
				@@ -416,7 +416,11 @@ void QuadPlane::hold_stabilize(float throttle_in)
                                                                         get_pilot_desired_yaw_rate_cds(),
                                                                         smoothing_gain);

-    attitude_control->set_throttle_out(throttle_in, true, 0);
+    if (throttle_in <= 0) {
+        attitude_control->set_throttle_out_unstabilized(0, true, 0);
+    } else {
+        attitude_control->set_throttle_out(throttle_in, true, 0);
+    }
 }

 // quadplane stabilize mode