From 5784abde1f1ff2948d49fe5715bb68845e9c0752 Mon Sep 17 00:00:00 2001
From: MattKear <matthewnkear@gmail.com>
Date: Mon, 3 Jun 2024 20:13:43 +0100
Subject: [PATCH] AP_Motors: Heli dual: Constrain cyclic roll for intermeshing

---
 libraries/AP_Motors/AP_MotorsHeli_Dual.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
index 3bc2ab84e7..f2cc35f224 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
@@ -404,7 +404,8 @@ void AP_MotorsHeli_Dual::move_actuators(float roll_out, float pitch_out, float c
             pitch_out = _cyclic_max/4500.0f;
             limit.pitch = true;
         }
-    } else {
+    }
+    if (_dual_mode != AP_MOTORS_HELI_DUAL_MODE_TRANSVERSE) {
         if (roll_out < -_cyclic_max/4500.0f) {
             roll_out = -_cyclic_max/4500.0f;
             limit.roll = true;