From 28cf9d2f24c974daa159bdcfcf337957e8aac164 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 2 Feb 2019 21:13:35 +1100
Subject: [PATCH] Plane: allow rudder at zero throttle

if rudder disarming is disabled
---
 ArduPlane/quadplane.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index f8072d7986..34d6775937 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -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;
     }