From 959c0eccfd05170041984b53ed2f9a501a8e6335 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 19 Dec 2015 14:59:44 +0900
Subject: [PATCH] Copter: reject changing to throw mode while armed

---
 ArduCopter/control_throw.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/ArduCopter/control_throw.cpp b/ArduCopter/control_throw.cpp
index 609109c44e..d38802c0c9 100644
--- a/ArduCopter/control_throw.cpp
+++ b/ArduCopter/control_throw.cpp
@@ -10,6 +10,12 @@ bool Copter::throw_init(bool ignore_checks)
     // do not allow helis to use throw to start
     return false;
 #endif
+
+    // do not enter the mode when already armed
+    if (motors.armed()) {
+        return false;
+    }
+
     // this mode needs a position reference
     if (position_ok()) {
         return true;