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commander: allow disarm in ACRO mode

This commit is contained in:
Anton Babushkin 2014-05-20 16:42:11 +02:00
parent d8ef397b07
commit 559bfbb11c
1 changed files with 1 additions and 1 deletions
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src/modules/commander/commander.cpp
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@ -1192,7 +1192,7 @@ int commander_thread_main(int argc, char *argv[])
* do it only for rotary wings */
if (status.is_rotary_wing &&
(status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) &&
(status.main_state == MAIN_STATE_MANUAL || status.condition_landed) &&
(status.main_state == MAIN_STATE_MANUAL || status.main_state == MAIN_STATE_ACRO || status.condition_landed) &&
sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {