From 683a2919d12b5a62ee09d50c30e98c2195b4f7a5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 2 Apr 2013 10:42:56 +1100
Subject: [PATCH] Plane: prevent stick mixing when throttle is below failsafe
 threshold

this fixes issue #40
---
 ArduPlane/Attitude.pde | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/Attitude.pde b/ArduPlane/Attitude.pde
index 6c9c1d6037..b674045190 100644
--- a/ArduPlane/Attitude.pde
+++ b/ArduPlane/Attitude.pde
@@ -42,7 +42,9 @@ static bool stick_mixing_enabled(void)
         // we're in an auto mode. Check the stick mixing flag
         if (g.stick_mixing != STICK_MIXING_DISABLED &&
             geofence_stickmixing() &&
-            failsafe == FAILSAFE_NONE) {
+            failsafe == FAILSAFE_NONE &&
+            (g.throttle_fs_enabled == 0 || 
+             g.channel_throttle.radio_in >= g.throttle_fs_value)) {
             // we're in an auto mode, and haven't triggered failsafe
             return true;
         } else {