From 1869cd52e1a2cd48b7951ceec6c5d093fd9a6c42 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 20 Sep 2013 12:31:35 +1000
Subject: [PATCH] Plane: fixed AUTO_FBW_STEER stick mixing

---
 ArduPlane/Attitude.pde | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/Attitude.pde b/ArduPlane/Attitude.pde
index 8478d9b29f..7b96e69977 100644
--- a/ArduPlane/Attitude.pde
+++ b/ArduPlane/Attitude.pde
@@ -154,7 +154,8 @@ static void stabilize_stick_mixing_fbw()
         control_mode == FLY_BY_WIRE_A ||
         control_mode == FLY_BY_WIRE_B ||
         control_mode == CRUISE ||
-        control_mode == TRAINING) {
+        control_mode == TRAINING ||
+        (control_mode == AUTO && g.auto_fbw_steer)) {
         return;
     }
     // do FBW style stick mixing. We don't treat it linearly