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Sub-4.5: backport throttle neutralisation fix #32170

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Merged
Williangalvani merged 1 commit into from
Feb 20, 2026
Merged

Sub-4.5: backport throttle neutralisation fix #32170

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4 changes: 4 additions & 0 deletions ArduSub/config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -183,6 +183,10 @@
# define AUTO_DISARMING_DELAY 0
#endif

#ifndef NEUTRAL_THROTTLE
# define NEUTRAL_THROTTLE (0.5f) // Throttle output for "no vertical thrust"
#endif

//////////////////////////////////////////////////////////////////////////////
// Logging control
//
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2 changes: 1 addition & 1 deletion ArduSub/mode_acro.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@ void ModeAcro::run()
// if not armed set throttle to zero and exit immediately
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
attitude_control->set_throttle_out(0,true,g.throttle_filt);
attitude_control->set_throttle_out(NEUTRAL_THROTTLE,true,g.throttle_filt);
attitude_control->relax_attitude_controllers();
return;
}
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2 changes: 1 addition & 1 deletion ArduSub/mode_althold.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ void ModeAlthold::run_pre()
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when not auto-armed (i.e. on the ground, pilot has never raised throttle)
attitude_control->set_throttle_out(0.5,true,g.throttle_filt);
attitude_control->set_throttle_out(NEUTRAL_THROTTLE,true,g.throttle_filt);
attitude_control->relax_attitude_controllers();
position_control->relax_z_controller(motors.get_throttle_hover());
sub.last_pilot_heading = ahrs.yaw_sensor;
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6 changes: 3 additions & 3 deletions ArduSub/mode_auto.cpp
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Expand Up @@ -111,7 +111,7 @@ void ModeAuto::auto_wp_run()
// call attitude controller
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
attitude_control->set_throttle_out(0,true,g.throttle_filt);
attitude_control->set_throttle_out(NEUTRAL_THROTTLE,true,g.throttle_filt);
attitude_control->relax_attitude_controllers();
sub.wp_nav.wp_and_spline_init(); // Reset xy target
return;
Expand Down Expand Up @@ -302,7 +302,7 @@ void ModeAuto::auto_loiter_run()
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control->set_throttle_out(0,true,g.throttle_filt);
attitude_control->set_throttle_out(NEUTRAL_THROTTLE,true,g.throttle_filt);
attitude_control->relax_attitude_controllers();

sub.wp_nav.wp_and_spline_init(); // Reset xy target
Expand Down Expand Up @@ -475,7 +475,7 @@ void ModeAuto::auto_terrain_recover_run()
// if not armed set throttle to zero and exit immediately
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
attitude_control->set_throttle_out(0,true,g.throttle_filt);
attitude_control->set_throttle_out(NEUTRAL_THROTTLE,true,g.throttle_filt);
attitude_control->relax_attitude_controllers();

sub.loiter_nav.init_target(); // Reset xy target
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2 changes: 1 addition & 1 deletion ArduSub/mode_circle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,7 @@ void ModeCircle::run()
// To-Do: add some initialisation of position controllers
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control->set_throttle_out(0,true,g.throttle_filt);
attitude_control->set_throttle_out(NEUTRAL_THROTTLE,true,g.throttle_filt);
attitude_control->relax_attitude_controllers();
sub.circle_nav.init();
return;
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8 changes: 4 additions & 4 deletions ArduSub/mode_guided.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -457,7 +457,7 @@ void ModeGuided::guided_pos_control_run()
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control->set_throttle_out(0,true,g.throttle_filt);
attitude_control->set_throttle_out(NEUTRAL_THROTTLE,true,g.throttle_filt);
attitude_control->relax_attitude_controllers();
sub.wp_nav.wp_and_spline_init();
return;
Expand Down Expand Up @@ -522,7 +522,7 @@ void ModeGuided::guided_vel_control_run()
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control->set_throttle_out(0,true,g.throttle_filt);
attitude_control->set_throttle_out(NEUTRAL_THROTTLE,true,g.throttle_filt);
attitude_control->relax_attitude_controllers();
// initialise velocity controller
position_control->init_z_controller();
Expand Down Expand Up @@ -595,7 +595,7 @@ void ModeGuided::guided_posvel_control_run()
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control->set_throttle_out(0,true,g.throttle_filt);
attitude_control->set_throttle_out(NEUTRAL_THROTTLE,true,g.throttle_filt);
attitude_control->relax_attitude_controllers();
// initialise velocity controller
position_control->init_z_controller();
Expand Down Expand Up @@ -675,7 +675,7 @@ void ModeGuided::guided_angle_control_run()
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control->set_throttle_out(0.0f,true,g.throttle_filt);
attitude_control->set_throttle_out(NEUTRAL_THROTTLE,true,g.throttle_filt);
attitude_control->relax_attitude_controllers();
// initialise velocity controller
position_control->init_z_controller();
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2 changes: 1 addition & 1 deletion ArduSub/mode_manual.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ void ModeManual::run()
// if not armed set throttle to zero and exit immediately
if (!sub.motors.armed()) {
sub.motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
attitude_control->set_throttle_out(0,true,g.throttle_filt);
attitude_control->set_throttle_out(NEUTRAL_THROTTLE,true,g.throttle_filt);
attitude_control->relax_attitude_controllers();
return;
}
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4 changes: 2 additions & 2 deletions ArduSub/mode_poshold.cpp
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Expand Up @@ -25,7 +25,7 @@ bool ModePoshold::init(bool ignore_checks)
position_control->init_z_controller();

// Stop all thrusters
attitude_control->set_throttle_out(0.5f ,true, g.throttle_filt);
attitude_control->set_throttle_out(NEUTRAL_THROTTLE ,true, g.throttle_filt);
attitude_control->relax_attitude_controllers();
position_control->relax_z_controller(0.5f);

Expand All @@ -43,7 +43,7 @@ void ModePoshold::run()
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when not auto-armed (i.e. on the ground, pilot has never raised throttle)
attitude_control->set_throttle_out(0.5f ,true, g.throttle_filt);
attitude_control->set_throttle_out(NEUTRAL_THROTTLE ,true, g.throttle_filt);
attitude_control->relax_attitude_controllers();
position_control->init_xy_controller_stopping_point();
position_control->relax_z_controller(0.5f);
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2 changes: 1 addition & 1 deletion ArduSub/mode_stabilize.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@ void ModeStabilize::run()
// if not armed set throttle to zero and exit immediately
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
attitude_control->set_throttle_out(0,true,g.throttle_filt);
attitude_control->set_throttle_out(NEUTRAL_THROTTLE,true,g.throttle_filt);
attitude_control->relax_attitude_controllers();
sub.last_pilot_heading = ahrs.yaw_sensor;
return;
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2 changes: 1 addition & 1 deletion ArduSub/mode_surface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@ void ModeSurface::run()
if (!motors.armed()) {
motors.output_min();
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
attitude_control->set_throttle_out(0,true,g.throttle_filt);
attitude_control->set_throttle_out(NEUTRAL_THROTTLE,true,g.throttle_filt);
attitude_control->relax_attitude_controllers();
position_control->init_z_controller();
return;
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