From a9b9a0530760cf2d0af34c75b8dbad325bd1e612 Mon Sep 17 00:00:00 2001 From: sander Date: Sun, 27 Dec 2015 16:41:25 +0100 Subject: [PATCH] Arm checking FW throttle --- src/modules/vtol_att_control/standard.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp index 4f0c87bdbc..de09359935 100644 --- a/src/modules/vtol_att_control/standard.cpp +++ b/src/modules/vtol_att_control/standard.cpp @@ -302,7 +302,7 @@ void Standard::fill_actuator_outputs() * (1 - _mc_yaw_weight); // yaw // set the fixed wing throttle control - if (_vtol_schedule.flight_mode == FW_MODE) { + if (_vtol_schedule.flight_mode == FW_MODE && _armed->armed) { // take the throttle value commanded by the fw controller _actuators_out_1->control[actuator_controls_s::INDEX_THROTTLE] = _actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];