From bfcefa3f34ef51d8e2950c400171c8412961dff1 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Mon, 5 Apr 2021 11:17:03 +0100
Subject: [PATCH] AP_VideoTX: prioritize pitmode changes over power changes

---
 libraries/AP_VideoTX/AP_SmartAudio.cpp | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_VideoTX/AP_SmartAudio.cpp b/libraries/AP_VideoTX/AP_SmartAudio.cpp
index 86742ff690..a48a96e95d 100644
--- a/libraries/AP_VideoTX/AP_SmartAudio.cpp
+++ b/libraries/AP_VideoTX/AP_SmartAudio.cpp
@@ -201,7 +201,14 @@ void AP_SmartAudio::update_vtx_params()
             }
         }
 
-        if (_vtx_freq_change_pending) {
+        if (pitMode) {// prevent power changes in pitmode as this takes the VTX out of pitmode
+            _vtx_power_change_pending = false;
+        }
+
+        // prioritize pitmode changes
+        if (_vtx_options_change_pending) {
+            set_operation_mode(mode);
+        } else if (_vtx_freq_change_pending) {
             if (_vtx_use_set_freq) {
                 set_frequency(vtx.get_configured_frequency_mhz(), false);
             } else {
@@ -224,8 +231,6 @@ void AP_SmartAudio::update_vtx_params()
                 }
                 break;
             }
-        } else if (_vtx_options_change_pending) {
-            set_operation_mode(mode);
         }
     }
 }