From dd9179efc937bb8974480b4bf345fb9197593495 Mon Sep 17 00:00:00 2001
From: sanderux <sander@droneslab.com>
Date: Wed, 18 Oct 2017 22:28:47 +0200
Subject: [PATCH] Adaptive QuadChute disabled in manual modes

---
 src/modules/vtol_att_control/vtol_type.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp
index a8bd5c7699..7a18d2435e 100644
--- a/src/modules/vtol_att_control/vtol_type.cpp
+++ b/src/modules/vtol_att_control/vtol_type.cpp
@@ -227,7 +227,7 @@ void VtolType::check_quadchute_condition()
 
 		// adaptive quadchute
 		// We use tecs for tracking in FW and local_pos_sp during transitions
-		if (_params->fw_alt_err > FLT_EPSILON) {
+		if (_params->fw_alt_err > FLT_EPSILON && _v_control_mode->flag_control_altitude_enabled) {
 			float altErr = 0.0f;
 
 			if (_tecs_running) {