From 99b32a39c43aa308074f479dc68b94ddbe026a3e Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Fri, 7 Dec 2012 13:01:40 +0900
Subject: [PATCH] ArduCopter: InertialNav time constant CH6 tuning changed to
 only update enabled axis

---
 ArduCopter/ArduCopter.pde | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 5abe716f11..219c653c49 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -2158,12 +2158,14 @@ static void tuning(){
         break;
 #endif
 
-#if INERTIAL_NAV_XY == ENABLED || INERTIAL_NAV_Z == ENABLED
     case CH6_INAV_TC:
+#if INERTIAL_NAV_XY == ENABLED
         inertial_nav.set_time_constant_xy(tuning_value);
-        inertial_nav.set_time_constant_z(tuning_value);
-        break;
 #endif
+#if INERTIAL_NAV_Z == ENABLED
+        inertial_nav.set_time_constant_z(tuning_value);
+#endif
+        break;
 
     case CH6_THR_ACCEL_KP:
         g.pid_throttle_accel.kP(tuning_value);