Plane: In transition use TRIM_THROTTLE when TKOFF_THR_MIN==0

ArduPilot · Aug 26, 2024 · 7e36beb · 7e36beb
1 parent 1145442
commit 7e36beb
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Showing 2 changed files with 3 additions and 1 deletion.
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
@@ -156,7 +156,7 @@ const AP_Param::Info Plane::var_info[] = {
     // @Range: 0 100
     // @Increment: 1
     // @User: Standard
-    ASCALAR(takeoff_throttle_min,       "TKOFF_THR_MIN",    60),
+    ASCALAR(takeoff_throttle_min,       "TKOFF_THR_MIN",    0),
 
     // @Param: TKOFF_OPTIONS
     // @DisplayName: Takeoff options

diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
@@ -567,6 +567,8 @@ float Plane::apply_throttle_limits(float throttle_in)
         ) {
             if (aparm.takeoff_throttle_min.get() != 0) {
                 min_throttle = MAX(min_throttle, aparm.takeoff_throttle_min.get());
+            } else {
+                min_throttle = MAX(min_throttle, aparm.throttle_cruise.get());
             }
         }
     }