From 5e80f0cf7292ebc9b1b5b8ce8e561c6072280550 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 14 Aug 2014 16:03:23 +1000
Subject: [PATCH] APM_Control: allow for multiple stop calls in autotune

---
 libraries/APM_Control/AP_AutoTune.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/libraries/APM_Control/AP_AutoTune.cpp b/libraries/APM_Control/AP_AutoTune.cpp
index e3165593c8..3f972eb894 100644
--- a/libraries/APM_Control/AP_AutoTune.cpp
+++ b/libraries/APM_Control/AP_AutoTune.cpp
@@ -150,8 +150,10 @@ void AP_AutoTune::start(void)
  */
 void AP_AutoTune::stop(void)
 {
-    running = false;
-    save_gains(restore);
+    if (running) {
+        running = false;
+        save_gains(restore);
+    }
 }