From 59e66cfd545b0990215d5327b1316fc6a74bffa7 Mon Sep 17 00:00:00 2001 From: borisbstyle Date: Fri, 13 Nov 2015 14:59:43 +0100 Subject: [PATCH] Prevent winding up of Iterm when disarmed --- src/main/mw.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/mw.c b/src/main/mw.c index b2b8df885a..eeff3a458e 100644 --- a/src/main/mw.c +++ b/src/main/mw.c @@ -568,7 +568,7 @@ void processRx(void) * Additional code to prevent Iterm reset below min_check. pid_at_min_throttle higher than 1 will * activate the feature. Experimental yet. Minimum configuration is 2 sec and maxx is 5seconds. */ - if (masterConfig.mixerConfig.pid_at_min_throttle > 1) { + if (masterConfig.mixerConfig.pid_at_min_throttle > 1 && ARMING_FLAG(ARMED)) { if (pidResetErrorGyroTimeout < millis()) { pidResetErrorGyro(); }