Plane: move guided throttle passthrough to mode_guided

ArduPilot · Jan 31, 2024 · b119a2a · b119a2a
1 parent 98c5912
commit b119a2a
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Showing 2 changed files with 10 additions and 6 deletions.
diff --git a/ArduPlane/mode_guided.cpp b/ArduPlane/mode_guided.cpp
@@ -82,13 +82,21 @@ void ModeGuided::update()
         plane.calc_nav_pitch();
     }
 
-    // Received an external msg that guides throttle in the last 3 seconds?
-    if (plane.aparm.throttle_cruise > 1 &&
+    // Throttle output
+    if (plane.guided_throttle_passthru) {
+        // manual passthrough of throttle in fence breach
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.get_throttle_input(true));
+
+    }  else if (plane.aparm.throttle_cruise > 1 &&
             plane.guided_state.last_forced_throttle_ms > 0 &&
             millis() - plane.guided_state.last_forced_throttle_ms < 3000) {
+        // Received an external msg that guides throttle in the last 3 seconds?
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.guided_state.forced_throttle);
+
     } else {
+        // TECS control
         plane.calc_throttle();
+
     }
 
 }

diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
@@ -601,10 +601,6 @@ void Plane::set_throttle(void)
             // get throttle, but adjust center to output TRIM_THROTTLE if flight option set
             SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_adjusted_throttle_input(true));
         }
-    } else if (control_mode->is_guided_mode() &&
-               guided_throttle_passthru) {
-        // manual pass through of throttle while in GUIDED
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));
     }
 
     if (control_mode->use_battery_compensation()) {