From 139acc0530410762c4d1ec8b580737e662ec7ad6 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 21 Feb 2013 11:21:39 +1100
Subject: [PATCH] Plane: ignore control mode changes when in throttle failsafe

this prevents the receiver causing a temporary mode change
---
 ArduPlane/control_modes.pde | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/ArduPlane/control_modes.pde b/ArduPlane/control_modes.pde
index b6429ba035..3846615ea2 100644
--- a/ArduPlane/control_modes.pde
+++ b/ArduPlane/control_modes.pde
@@ -10,6 +10,12 @@ static void read_control_switch()
     // If we get this value we do not want to change modes.
     if(switchPosition == 255) return;
 
+    if (ch3_failsafe) {
+        // when we are in ch3_failsafe mode then RC input is not
+        // working, and we need to ignore the mode switch channel
+        return;
+    }
+
     // we look for changes in the switch position. If the
     // RST_SWITCH_CH parameter is set, then it is a switch that can be
     // used to force re-reading of the control switch. This is useful