From dd2478f582f7266050668e33b0d4efcfeff25088 Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Tue, 9 Feb 2016 12:10:47 +0100
Subject: [PATCH] Prevent unnecessary Iterm windup during failsafe and when not
 armed

---
 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 f5947df64a..3ba114b4a4 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -483,7 +483,7 @@ void processRx(void)
     /* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
      This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air */
     if (throttleStatus == THROTTLE_LOW) {
-        if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
+        if (IS_RC_MODE_ACTIVE(BOXAIRMODE) && !failsafeIsActive() && ARMING_FLAG(ARMED)) {
             if (rollPitchStatus == CENTERED) {
                 antiWindupProtection = true;
             } else {