From 76870f8e0150840335f3a204c2e3c3dd5a627f40 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 23 Apr 2017 13:46:08 +1000 Subject: [PATCH] Plane: improve fast/slow tilt in ground tests when disarmed use the slow tilts so users can judge the rates it will use in flight --- ArduPlane/tiltrotor.cpp | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/ArduPlane/tiltrotor.cpp b/ArduPlane/tiltrotor.cpp index 8822921fed..e34bb959de 100644 --- a/ArduPlane/tiltrotor.cpp +++ b/ArduPlane/tiltrotor.cpp @@ -18,7 +18,14 @@ float QuadPlane::tilt_max_change(bool up) rate = tilt.max_rate_down_dps; } if (tilt.tilt_type != TILT_TYPE_BINARY && !up) { - if (plane.control_mode == MANUAL || (!in_vtol_mode() && !assisted_flight)) { + bool fast_tilt = false; + if (plane.control_mode == MANUAL) { + fast_tilt = true; + } + if (hal.util->get_soft_armed() && !in_vtol_mode() && !assisted_flight) { + fast_tilt = true; + } + if (fast_tilt) { // allow a minimum of 90 DPS in manual or if we are not // stabilising, to give fast control rate = MAX(rate, 90);