From 32d8e5c8d4437e12642414b5f8a4794fa7bb6754 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 11 Oct 2014 17:06:29 +0900
Subject: [PATCH] Tracker: only run servo updates when safety is off

Largely removes the sudden jerk that occurs when the user pushes the
safety switch
---
 AntennaTracker/tracking.pde | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/AntennaTracker/tracking.pde b/AntennaTracker/tracking.pde
index e4028d6f99..96bbb4328a 100644
--- a/AntennaTracker/tracking.pde
+++ b/AntennaTracker/tracking.pde
@@ -82,6 +82,11 @@ static void update_tracking(void)
         return;
     }
 
+    // do not perform updates if safety switch is disarmed (i.e. servos can't be moved)
+    if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
+        return;
+    }
+
     switch (control_mode) {
     case AUTO:
         update_auto();