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Plane: allow rudder at zero throttle

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if rudder disarming is disabled
This commit is contained in:
Andrew Tridgell 2019-02-02 21:13:35 +11:00 committed by Tom Pittenger
parent 700519d805
commit 28cf9d2f24
1 changed files with 2 additions and 1 deletions
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3
ArduPlane/quadplane.cpp
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@ -1064,7 +1064,8 @@ void QuadPlane::control_loiter()
*/
float QuadPlane::get_pilot_input_yaw_rate_cds(void) const
{
if (plane.get_throttle_input() <= 0 && !plane.auto_throttle_mode) {
if (plane.get_throttle_input() <= 0 && !plane.auto_throttle_mode &&
plane.arming.get_rudder_arming_type() != AP_Arming::ARMING_RUDDER_DISABLED) {
// the user may be trying to disarm
return 0;
}