From 2923bdf39fd6e424523f0b6b47bef3cabcdc0645 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sat, 1 Feb 2014 11:25:29 +0100 Subject: commander: allow disarming in ACRO without landing (as in MANUAL) --- src/modules/commander/commander.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules/commander') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 89294fc76..30f75b9fb 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1120,7 +1120,7 @@ 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.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) { if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { -- cgit v1.2.3