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Copter: only allow autotuning when flying

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This commit is contained in:
Randy Mackay 2013-10-21 17:58:10 +09:00
parent cd5b24bf02
commit bbc4cb263f
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/ArduCopter.pde
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@ -1591,8 +1591,8 @@ bool set_roll_pitch_mode(uint8_t new_roll_pitch_mode)
#if AUTOTUNE == ENABLED
case ROLL_PITCH_AUTOTUNE:
// only enter autotune mode from stabilized roll-pitch mode
if (roll_pitch_mode == ROLL_PITCH_STABLE) {
// only enter autotune mode from stabilized roll-pitch mode when armed and flying
if (roll_pitch_mode == ROLL_PITCH_STABLE && motors.armed() && !ap.land_complete) {
// auto_tune_start returns true if it wants the roll-pitch mode changed to autotune
roll_pitch_initialised = auto_tune_start();
}