Plane: Manual: use apply_throttle_limits function in manual mode if IDLE_GOV_MANUAL is enabled.

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; }

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;
+}

Tools/autotest/arduplane.py

@@ -5312,6 +5312,38 @@ def SagetechMXS(self):
         home = self.home_position_as_mav_location()
         self.assert_distance(home, adsb_vehicle_loc, 0, 10000)
 
+    def MinThrottle(self):
+        '''Make sure min throttle does not apply in manual mode and does in FBWA'''
+
+        servo_min = self.get_parameter("RC3_MIN")
+        servo_max = self.get_parameter("RC3_MAX")
+        min_throttle = 10
+        servo_min_throttle = servo_min + (servo_max - servo_min) * (min_throttle / 100)
+
+        # Set min throttle
+        self.set_parameter('THR_MIN', min_throttle)
+
+        # Should be 0 throttle while disarmed
+        self.change_mode("MANUAL")
+        self.drain_mav() # make sure we have the latest data before checking throttle output
+        self.assert_servo_channel_value(3, servo_min)
+
+        # Arm and check throttle is still 0 in manual
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+        self.drain_mav()
+        self.assert_servo_channel_value(3, servo_min)
+
+        # FBWA should apply throttle min
+        self.change_mode("FBWA")
+        self.drain_mav()
+        self.assert_servo_channel_value(3, servo_min_throttle)
+
+        # But not when disarmed
+        self.disarm_vehicle()
+        self.drain_mav()
+        self.assert_servo_channel_value(3, servo_min)
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestPlane, self).tests()
@@ -5419,6 +5451,7 @@ def tests(self):
             self.TerrainRally,
             self.MAV_CMD_NAV_LOITER_UNLIM,
             self.MAV_CMD_NAV_RETURN_TO_LAUNCH,
+            self.MinThrottle,
         ])
         return ret