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Copter: make bailout only enabled with AROT_ENABLE

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This commit is contained in:
Bill Geyer 2021-11-24 22:18:34 -05:00 committed by Bill Geyer
parent b2f00d469e
commit 40d75302c2
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/heli.cpp
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@ -207,8 +207,8 @@ void Copter::heli_update_autorotation()
{
#if MODE_AUTOROTATE_ENABLED == ENABLED
// check if flying and interlock disengaged
if (!ap.land_complete && !motors->get_interlock()) {
if (!flightmode->has_manual_throttle() && g2.arot.is_enable()) {
if (!ap.land_complete && !motors->get_interlock() && g2.arot.is_enable()) {
if (!flightmode->has_manual_throttle()) {
// set autonomous autorotation flight mode
set_mode(Mode::Number::AUTOROTATE, ModeReason::AUTOROTATION_START);
}
@ -220,7 +220,7 @@ void Copter::heli_update_autorotation()
// sets autorotation flags through out libraries
heli_set_autorotation(heli_flags.in_autorotation);
if (!ap.land_complete) {
if (!ap.land_complete && g2.arot.is_enable()) {
motors->set_enable_bailout(true);
} else {
motors->set_enable_bailout(false);