Plane: ignore invalid pilot throttle

ArduPilot · Nov 25, 2023 · f7df379 · f7df379
1 parent 8f9df5a
commit f7df379
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Showing 2 changed files with 9 additions and 3 deletions.
diff --git a/ArduPlane/reverse_thrust.cpp b/ArduPlane/reverse_thrust.cpp
@@ -125,6 +125,10 @@ bool Plane::have_reverse_thrust(void) const
  */
 float Plane::get_throttle_input(bool no_deadzone) const
 {
+    if (!rc().has_valid_input()) {
+        // Return 0 if there is no valid input
+        return 0.0;
+    }
     float ret;
     if (no_deadzone) {
         ret = channel_throttle->get_control_in_zero_dz();
@@ -143,6 +147,10 @@ float Plane::get_throttle_input(bool no_deadzone) const
  */
 float Plane::get_adjusted_throttle_input(bool no_deadzone) const
 {
+    if (!rc().has_valid_input()) {
+        // Return 0 if there is no valid input
+        return 0.0;
+    }
     if ((plane.channel_throttle->get_type() != RC_Channel::ControlType::RANGE) ||
         (flight_option_enabled(FlightOptions::CENTER_THROTTLE_TRIM)) == 0) {
        return  get_throttle_input(no_deadzone);

diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
@@ -547,9 +547,7 @@ void Plane::set_servos_controlled(void)
                control_mode == &mode_fbwa ||
                control_mode == &mode_autotune) {
         // a manual throttle mode
-        if (!rc().has_valid_input()) {
-            SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, g.throttle_passthru_stabilize ? 0.0 : MAX(min_throttle,0));
-        } else if (g.throttle_passthru_stabilize) {
+        if (g.throttle_passthru_stabilize) {
             // manual pass through of throttle while in FBWA or
             // STABILIZE mode with THR_PASS_STAB set
             SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));