diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde index 469c5aca782ecb23735e3468548ffbab7917169f..d018893067c192020594fd4b8874dc235b3a4a3d 100644 --- a/ArduPlane/ArduPlane.pde +++ b/ArduPlane/ArduPlane.pde @@ -1167,7 +1167,7 @@ static void update_flight_mode(void) case FLY_BY_WIRE_B: // Thanks to Yury MonZon for the altitude limit code! - calc_nav_roll(); + nav_roll_cd = channel_roll->norm_input() * g.roll_limit_cd; update_fbwb_speed_height(); break; @@ -1177,14 +1177,13 @@ static void update_flight_mode(void) roll when heading is locked. Heading becomes unlocked on any aileron or rudder input */ - if (control_mode == CRUISE && - (channel_roll->control_in != 0 || + if ((channel_roll->control_in != 0 || channel_rudder->control_in != 0)) { cruise_state.locked_heading = false; cruise_state.lock_timer_ms = 0; } - if (control_mode != CRUISE || !cruise_state.locked_heading) { + if (!cruise_state.locked_heading) { nav_roll_cd = channel_roll->norm_input() * g.roll_limit_cd; } else { calc_nav_roll();