Plane: allow arming in quided with only arm in Qmodes Q_OPTION

3 years ago · cdfda2bd9b
1 changed files with 1 additions and 1 deletions
--- a/ArduPlane/AP_Arming.cpp
+++ b/ArduPlane/AP_Arming.cpp
@ -122,7 +122,7 @@ bool AP_Arming_Plane::pre_arm_checks(bool display_failure)
				@@ -122,7 +122,7 @@ bool AP_Arming_Plane::pre_arm_checks(bool display_failure)

 #if HAL_QUADPLANE_ENABLED
    if (plane.quadplane.enabled() && ((plane.quadplane.options & QuadPlane::OPTION_ONLY_ARM_IN_QMODE_OR_AUTO) != 0) &&
-            !plane.control_mode->is_vtol_mode() && (plane.control_mode != &plane.mode_auto)) {
+            !plane.control_mode->is_vtol_mode() && (plane.control_mode != &plane.mode_auto) && (plane.control_mode != &plane.mode_guided)) {
        check_failed(display_failure,"not in Q mode");
        ret = false;
    }