Plane: move manual mode throttle limits to main throttle limit function.

ArduPilot · Feb 21, 2024 · 855831d · 855831d
1 parent dc19629
commit 855831d
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Showing 2 changed files with 13 additions and 16 deletions.
diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
@@ -400,7 +400,7 @@ class ModeManual : public Mode
     void run() override;
 
     // true if throttle min/max limits should be applied
-    bool use_throttle_limits() const override { return false; }
+    bool use_throttle_limits() const override;
 
     // true if voltage correction should be applied to throttle
     bool use_battery_compensation() const override { return false; }

diff --git a/ArduPlane/mode_manual.cpp b/ArduPlane/mode_manual.cpp
@@ -6,22 +6,8 @@ void ModeManual::update()
     SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, plane.roll_in_expo(false));
     SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, plane.pitch_in_expo(false));
     output_rudder_and_steering(plane.rudder_in_expo(false));
-    float throttle = plane.get_throttle_input(true);
 
-
-#if HAL_QUADPLANE_ENABLED
-    if (quadplane.available() && quadplane.option_is_set(QuadPlane::OPTION::IDLE_GOV_MANUAL)) {
-        // for quadplanes it can be useful to run the idle governor in MANUAL mode
-        // as it prevents the VTOL motors from running
-        int8_t min_throttle = plane.aparm.throttle_min.get();
-
-        // apply idle governor
-#if AP_ICENGINE_ENABLED
-        plane.g2.ice_control.update_idle_governor(min_throttle);
-#endif
-        throttle = MAX(throttle, min_throttle);
-    }
-#endif
+    const float throttle = plane.get_throttle_input(true);
     SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle);
 
     plane.nav_roll_cd = ahrs.roll_sensor;
@@ -32,3 +18,14 @@ void ModeManual::run()
 {
     reset_controllers();
 }
+
+// true if throttle min/max limits should be applied
+bool ModeManual::use_throttle_limits() const
+{
+#if HAL_QUADPLANE_ENABLED
+    if (quadplane.available() && quadplane.option_is_set(QuadPlane::OPTION::IDLE_GOV_MANUAL)) {
+        return true;
+    }
+#endif
+    return false;
+}