From 954ffc272b9443c974591723acd925a0409f709d Mon Sep 17 00:00:00 2001
From: Paul Riseborough <gncsolns@gmail.com>
Date: Sun, 18 Aug 2024 08:02:51 +1000
Subject: [PATCH] Plane: Allow wind relative dead reckoning when lift motors
 are assisting

When lift motors are assisting the wing during forward flight, the airspeed
and zero sideslip assumption are still sufficiently valid to keep navigating.
Without this patch a VTOL operating in FW mode without GPS and reliant on
air data for dead reckoning will stop navigating and lose its position estimate
if the lift motors start assisting.
---
 ArduPlane/Plane.cpp | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/ArduPlane/Plane.cpp b/ArduPlane/Plane.cpp
index 1990ca0ed2e78..a487b0a724e7b 100644
--- a/ArduPlane/Plane.cpp
+++ b/ArduPlane/Plane.cpp
@@ -533,11 +533,6 @@ void Plane::update_fly_forward(void)
             ahrs.set_fly_forward(false);
             return;
         }
-
-        if (quadplane.in_assisted_flight()) {
-            ahrs.set_fly_forward(false);
-            return;
-        }
     }
 #endif