Plane: fixed throttle suppression for AUTO_FBW_STEER=1

12 years ago · e455ee0a94
1 changed files with 6 additions and 1 deletions
--- a/ArduPlane/Attitude.pde
+++ b/ArduPlane/Attitude.pde
@ -540,7 +540,12 @@ static bool suppress_throttle(void)
				@@ -540,7 +540,12 @@ static bool suppress_throttle(void)
        return false;
    }

-    if (control_mode==AUTO && !g.auto_fbw_steer && takeoff_complete == false && auto_takeoff_check()) {
+    if (control_mode==AUTO && g.auto_fbw_steer) {
+        // user has throttle control
+        return false;
+    }
+
+    if (control_mode==AUTO && takeoff_complete == false && auto_takeoff_check()) {
        // we're in auto takeoff 
        throttle_suppressed = false;
        if (hold_course_cd != -1) {