Plane: Quadplane: check for valid RC before passing throttle to outputs

ArduPilot · Nov 25, 2023 · 22c6270 · 22c6270
1 parent ee59247
commit 22c6270
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Showing 2 changed files with 8 additions and 4 deletions.
diff --git a/ArduPlane/motor_test.cpp b/ArduPlane/motor_test.cpp
@@ -56,9 +56,11 @@ void QuadPlane::motor_test_output()
         pwm = motor_test.throttle_value;
         break;
 
-    case MOTOR_TEST_THROTTLE_PILOT:
-        pwm = thr_min_pwm + (thr_max_pwm - thr_min_pwm) * plane.get_throttle_input()*0.01f;
+    case MOTOR_TEST_THROTTLE_PILOT: {
+        const float throttle_input = rc().has_valid_input() ? plane.get_throttle_input() : 0.0;
+        pwm = thr_min_pwm + (thr_max_pwm - thr_min_pwm) * throttle_input*0.01f;
         break;
+    }
 
     default:
         motor_test_stop();

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
@@ -879,10 +879,12 @@ void QuadPlane::run_esc_calibration(void)
     }
     AP_Notify::flags.esc_calibration = true;
     switch (esc_calibration) {
-    case 1:
+    case 1: {
         // throttle based calibration
-        motors->set_throttle_passthrough_for_esc_calibration(plane.get_throttle_input() * 0.01f);
+        const float throttle_input = rc().has_valid_input() ? plane.get_throttle_input() : 0.0;
+        motors->set_throttle_passthrough_for_esc_calibration(throttle_input * 0.01f);
         break;
+    }
     case 2:
         // full range calibration
         motors->set_throttle_passthrough_for_esc_calibration(1);