Plane: Don't go to minimum airspeed when in RC failsafe in cruise/fbwb

7 years ago · ee96c53844
1 changed files with 2 additions and 3 deletions
--- a/ArduPlane/navigation.cpp
+++ b/ArduPlane/navigation.cpp
@ -107,9 +107,8 @@ void Plane::calc_airspeed_errors()
				@@ -107,9 +107,8 @@ void Plane::calc_airspeed_errors()
    // may be using synthetic airspeed
    ahrs.airspeed_estimate(&airspeed_measured);

-    // FBW_B airspeed target
-    if (control_mode == FLY_BY_WIRE_B || 
-        control_mode == CRUISE) {
+    // FBW_B/cruise airspeed target
+    if (!failsafe.rc_failsafe && (control_mode == FLY_BY_WIRE_B || control_mode == CRUISE)) {
        target_airspeed_cm = ((int32_t)(aparm.airspeed_max -
                                        aparm.airspeed_min) *
                              channel_throttle->get_control_in()) +