From 95fbf39f7296e3af94653e8ff2ebc3cefa611915 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 17 Aug 2021 23:22:24 +0100
Subject: [PATCH] Plane: quadplane: check_attitude_relax use the last time the
 controllers were run not the last time relax was checked

---
 ArduPlane/quadplane.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index c1f027661fc55..272499d5b451d 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -987,11 +987,9 @@ void QuadPlane::relax_attitude_control()
  */
 void QuadPlane::check_attitude_relax(void)
 {
-    uint32_t now = AP_HAL::millis();
-    if (now - last_att_control_ms > 100) {
+    if (AP_HAL::millis() - last_att_control_ms > 100) {
         relax_attitude_control();
     }
-    last_att_control_ms = now;
 }
 
 /*
@@ -1943,8 +1941,10 @@ void QuadPlane::update_throttle_hover()
  */
 void QuadPlane::motors_output(bool run_rate_controller)
 {
+    const uint32_t now = AP_HAL::millis();
     if (run_rate_controller) {
         attitude_control->rate_controller_run();
+        last_att_control_ms = now;
     }
 
     /* Delay for ARMING_DELAY_MS after arming before allowing props to spin:
@@ -1992,7 +1992,7 @@ void QuadPlane::motors_output(bool run_rate_controller)
 
     // remember when motors were last active for throttle suppression
     if (motors->get_throttle() > 0.01f || tilt.motors_active) {
-        last_motors_active_ms = AP_HAL::millis();
+        last_motors_active_ms = now;
     }
 
 }