From 3316fe8f63b18a95f3030de693888163eb00adc8 Mon Sep 17 00:00:00 2001 From: Robert Lefebvre Date: Thu, 3 Jul 2014 17:07:04 -0400 Subject: [PATCH] TradHeli: Reset flybar passthrough to false when exiting Acro mode. --- ArduCopter/flight_mode.pde | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/ArduCopter/flight_mode.pde b/ArduCopter/flight_mode.pde index 35af7ca57a..9caf7eb316 100644 --- a/ArduCopter/flight_mode.pde +++ b/ArduCopter/flight_mode.pde @@ -227,6 +227,13 @@ static void exit_mode(uint8_t old_control_mode, uint8_t new_control_mode) // this assumes all manual flight modes use get_pilot_desired_throttle to translate pilot input to output throttle set_accel_throttle_I_from_pilot_throttle(get_pilot_desired_throttle(g.rc_3.control_in)); } + +#if FRAME_CONFIG == HELI_FRAME + // firmly reset the flybar passthrough to false when exiting acro mode. + if (old_control_mode == ACRO) { + attitude_control.use_flybar_passthrough(false); + } +#endif //HELI_FRAME } // returns true or false whether mode requires GPS