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Plane: prevent stick mixing when throttle is below failsafe threshold

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this fixes issue #40
This commit is contained in:
Andrew Tridgell 2013-04-02 10:42:56 +11:00
parent c5e2cfcc3e
commit 683a2919d1
1 changed files with 3 additions and 1 deletions
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4
ArduPlane/Attitude.pde
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@ -42,7 +42,9 @@ static bool stick_mixing_enabled(void)
// we're in an auto mode. Check the stick mixing flag
if (g.stick_mixing != STICK_MIXING_DISABLED &&
geofence_stickmixing() &&
failsafe == FAILSAFE_NONE) {
failsafe == FAILSAFE_NONE &&
(g.throttle_fs_enabled == 0 ||
g.channel_throttle.radio_in >= g.throttle_fs_value)) {
// we're in an auto mode, and haven't triggered failsafe
return true;
} else {