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Plane: Tailsitter: ensure all none-masked motors are shutdown in forward flight

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Iampete1
2026-04-14 10:41:53 +10:00
committed by Andrew Tridgell
parent 74b078e67c
commit 5fd78d08ef
1 changed files with 4 additions and 1 deletions
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ArduPlane/tailsitter.cpp
+4 -1
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@@ -342,7 +342,10 @@ void Tailsitter::output(void)
if (!quadplane.assisted_flight) {
// set AP_MotorsMatrix throttles for forward flight
motors->output_motor_mask(throttle, uint32_t(motor_mask.get()), plane.rudder_dt);
// Output throttle to masked motors and zero all others
const uint32_t mask = uint32_t(motor_mask.get());
motors->output_motor_mask(0.0, ~mask, 0.0);
motors->output_motor_mask(throttle, mask, plane.rudder_dt);
// No tilt output unless forward gain is set
float tilt_left = 0.0;