AP_Motors: only ouput throttle to mask if armed

2020-01-19 16:45:36 +00:00 · 2020-01-19 16:45:36 +00:00 · d08b395224
parent e189b17efb
commit d08b395224
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_Motors/AP_MotorsMulticopter.cpp
+++ b/libraries/AP_Motors/AP_MotorsMulticopter.cpp
@ -737,7 +737,7 @@ void AP_MotorsMulticopter::output_motor_mask(float thrust, uint8_t mask, float r

    for (uint8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
        if (motor_enabled[i]) {
-            if (mask & (1U << i)) {
+            if ((mask & (1U << i)) && armed()) {
                /*
                 apply rudder mixing differential thrust
                 copter frame roll is plane frame yaw as this only