diff --git a/src/main/mw.c b/src/main/mw.c index d0b8129fe3..8b05a005e0 100755 --- a/src/main/mw.c +++ b/src/main/mw.c @@ -478,7 +478,8 @@ void processRx(void) if (IS_RC_MODE_ACTIVE(BOXAIRMODE) && !failsafeIsActive() && ARMING_FLAG(ARMED)) { rollPitchStatus_e rollPitchStatus = calculateRollPitchCenterStatus(&masterConfig.rxConfig); - if (rollPitchStatus == CENTERED) { + // ANTI_WINDUP at centred stick with MOTOR_STOP is needed on MRs and not needed on FWs + if (rollPitchStatus == CENTERED || (feature(FEATURE_MOTOR_STOP) && !STATE(FIXED_WING))) { ENABLE_STATE(ANTI_WINDUP); } else {