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Disable FEATURE_MOTOR_STOP when AIRMODE is active. #172

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Disable FEATURE_MOTOR_STOP when AIRMODE is active. #172

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9 changes: 1 addition & 8 deletions src/main/flight/mixer.c
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Original file line number Diff line number Diff line change
Expand Up @@ -847,13 +847,6 @@ void mixTable(void)
for (i = 0; i < motorCount; i++) {
motor[i] = rollPitchYawMix[i] + constrainf(throttle * currentMixer[i].throttle, throttleMin, throttleMax);

// Motor stop handling
if (feature(FEATURE_MOTOR_STOP)) {
if (((rcData[THROTTLE]) < rxConfig->mincheck)) {
motor[i] = escAndServoConfig->mincommand;
}
}

// TODO - Should probably not be needed, but keep it till it is investigated.
if (isFailsafeActive) {
motor[i] = constrain(motor[i], escAndServoConfig->mincommand, escAndServoConfig->maxthrottle);
Expand All @@ -868,7 +861,7 @@ void mixTable(void)
}

// Motor stop handling
if (feature(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !feature(FEATURE_3D)) {
if (feature(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !feature(FEATURE_3D) && !IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
if (((rcData[THROTTLE]) < rxConfig->mincheck)) {
motor[i] = escAndServoConfig->mincommand;

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