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Copter: Jason's fix to auto disarming

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Added check so that it only starts counting down when motors are armed.
This removes the issue in which the copter sometimes disarms shortly
aftering being armed.
This commit is contained in:
Randy Mackay 2013-04-15 23:36:45 +09:00
parent 8046fe2cf3
commit a185fa950c
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/ArduCopter.pde
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@ -1295,7 +1295,7 @@ static void super_slow_loop()
// this function disarms the copter if it has been sitting on the ground for any moment of time greater than 25 seconds
// but only of the control mode is manual
if((control_mode <= ACRO) && (g.rc_3.control_in == 0)) {
if((control_mode <= ACRO) && (g.rc_3.control_in == 0) && motors.armed()) {
auto_disarming_counter++;
if(auto_disarming_counter == AUTO_DISARMING_DELAY) {