Copter: vibration compensation turns off in manual modes

ArduCopter/ekf_check.cpp

@@ -262,7 +262,7 @@ void Copter::check_vibration()
 
     const bool is_vibration_affected = ahrs.is_vibration_affected();
     const bool bad_vibe_detected = (innovation_checks_valid && innov_velD_posD_positive && (vel_variance > 1.0f)) || is_vibration_affected;
-    const bool do_bad_vibe_actions = (g2.fs_vibe_enabled == 1) && bad_vibe_detected && motors->armed();
+    const bool do_bad_vibe_actions = (g2.fs_vibe_enabled == 1) && bad_vibe_detected && motors->armed() && !flightmode->has_manual_throttle();
 
     if (!vibration_check.high_vibes) {
         // initialise timers
@@ -271,7 +271,7 @@ void Copter::check_vibration()
         }
         // check if failure has persisted for at least 1 second
         if (now - vibration_check.start_ms > 1000) {
-            // switch ekf to use resistant gains
+            // switch position controller to use resistant gains
             vibration_check.clear_ms = 0;
             vibration_check.high_vibes = true;
             pos_control->set_vibe_comp(true);
@@ -285,7 +285,7 @@ void Copter::check_vibration()
         }
         // turn off vibration compensation after 15 seconds
         if (now - vibration_check.clear_ms > 15000) {
-            // restore ekf gains, reset timers and update user
+            // restore position controller gains, reset timers and update user
             vibration_check.start_ms = 0;
             vibration_check.high_vibes = false;
             pos_control->set_vibe_comp(false);