From 870b9b0fbba55ebb659660240e39c358e3235cde Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 10 May 2013 10:46:17 +0900
Subject: [PATCH] Copter: only run nav controllers when auto-armed
This stops run-up in target position and nav controller I terms ahead of
throttle being raised
---
ArduCopter/navigation.pde | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde
index 77484872e..a483b6619 100644
--- a/ArduCopter/navigation.pde
+++ b/ArduCopter/navigation.pde
@@ -6,6 +6,11 @@ static void update_navigation()
{
static uint32_t nav_last_update = 0; // the system time of the last time nav was run update
+ // exit immediately if not auto_armed
+ if (!ap.auto_armed) {
+ return;
+ }
+
// check for inertial nav updates
if( inertial_nav.position_ok() ) {
--
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