From 6414f0e48e17bce193b706d0252fb84606208f80 Mon Sep 17 00:00:00 2001
From: Mark Whitehorn <kd0aij@gmail.com>
Date: Mon, 11 Mar 2019 16:39:51 -0600
Subject: [PATCH] Plane: skip plane assignments in QACRO

---
 ArduPlane/quadplane.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 9862c21491..61de41cf49 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1815,7 +1815,9 @@ void QuadPlane::control_run(void)
     switch (plane.control_mode) {
     case QACRO:
         control_qacro();
-        break;
+        // QACRO uses only the multicopter controller
+        // so skip the Plane attitude control calls below
+        return;
     case QSTABILIZE:
         control_stabilize();
         break;