Plane: Output rudder in VTOL modes

Author: IamPete1

ArduPlane/mode_qautotune.cpp

@@ -35,6 +35,9 @@ void ModeQAutotune::run()
     // Stabilize with fixed wing surfaces
     plane.stabilize_roll();
     plane.stabilize_pitch();
+
+    // Center rudder
+    output_rudder_and_steering(0.0);
 }
 
 void ModeQAutotune::_exit()

ArduPlane/mode_qhover.cpp

@@ -44,6 +44,9 @@ void ModeQHover::run()
     // Stabilize with fixed wing surfaces
     plane.stabilize_roll();
     plane.stabilize_pitch();
+
+    // Center rudder
+    output_rudder_and_steering(0.0);
 }
 
 #endif

ArduPlane/mode_qloiter.cpp

@@ -162,6 +162,9 @@ void ModeQLoiter::run()
     // Stabilize with fixed wing surfaces
     plane.stabilize_roll();
     plane.stabilize_pitch();
+
+    // Center rudder
+    output_rudder_and_steering(0.0);
 }
 
 #endif

ArduPlane/mode_qrtl.cpp

@@ -179,6 +179,7 @@ void ModeQRTL::run()
     // Stabilize with fixed wing surfaces
     plane.stabilize_roll();
     plane.stabilize_pitch();
+    plane.stabilize_yaw();
 }
 
 /*

ArduPlane/mode_qstabilize.cpp

@@ -64,6 +64,9 @@ void ModeQStabilize::run()
     // Stabilize with fixed wing surfaces
     plane.stabilize_roll();
     plane.stabilize_pitch();
+
+    // Center rudder
+    output_rudder_and_steering(0.0);
 }
 
 // set the desired roll and pitch for a tailsitter