From 559bfbb11cdac499cda8070c32e2b7e79b3b883e Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Tue, 20 May 2014 16:42:11 +0200 Subject: [PATCH] commander: allow disarm in ACRO mode --- src/modules/commander/commander.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 8336bcf329..45ef79d7c5 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -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) {