From f7df3795e6ca092e413fd8daac7c8c95aa4aed20 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sat, 25 Nov 2023 23:38:25 +0000
Subject: [PATCH] Plane: ignore invalid pilot throttle

---
 ArduPlane/reverse_thrust.cpp | 8 ++++++++
 ArduPlane/servos.cpp         | 4 +---
 2 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/ArduPlane/reverse_thrust.cpp b/ArduPlane/reverse_thrust.cpp
index f64f37b276d6b3..16dc514b547646 100644
--- 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
index 85fe2689f3765a..e583df8e7eccdf 100644
--- 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));