From f5a15fb7c5baa474027ca4eac4744d38255e719b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 2 Jan 2016 15:16:31 +1100
Subject: [PATCH] Plane: don't yaw quad when disarming

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

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index f010b7f1c3..1b580a538f 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -546,6 +546,10 @@ float QuadPlane::get_pilot_desired_yaw_rate_cds(void)
         // use bank angle to get desired yaw rate
         return desired_yaw_rate_cds();
     }
+    if (plane.channel_throttle->control_in <= 0) {
+        // the user may be trying to disarm
+        return 0;
+    }
     const float yaw_rate_max_dps = 100;
     return plane.channel_rudder->norm_input() * 100 * yaw_rate_max_dps;
 }