RC_Channel: only enter rc trim function if armed

ArduPilot · Apr 6, 2021 · 2815824 · 2815824
1 parent d41ecc3
commit 2815824
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/libraries/RC_Channel/RC_Channels.cpp b/libraries/RC_Channel/RC_Channels.cpp
@@ -278,7 +278,8 @@ void RC_Channels::rudder_arm_disarm_check()
         }
     }
 
-    if (now - rudder_arm_timer >= 10000 &&
+    if (AP::arming().is_armed() &&
+        now - rudder_arm_timer >= 10000 &&
         channel->get_control_in() > 4000) {
         // callback so Copter can enable AHRS-trim
         rudder_10_second_timer = 0;