Rover: only use pivot steering in AUTO modes

11 years ago · 203073e3ba
1 changed files with 1 additions and 1 deletions
--- a/APMrover2/Steering.pde
+++ b/APMrover2/Steering.pde
@ -69,7 +69,7 @@ static bool auto_check_trigger(void)
				@@ -69,7 +69,7 @@ static bool auto_check_trigger(void)
 */
 static bool use_pivot_steering(void)
 {
-    if (g.skid_steer_out && g.pivot_turn_angle != 0) {
+    if (control_mode >= AUTO && g.skid_steer_out && g.pivot_turn_angle != 0) {
        int16_t bearing_error = wrap_180_cd(nav_controller->target_bearing_cd() - ahrs.yaw_sensor) / 100;
        if (abs(bearing_error) > g.pivot_turn_angle) {
            return true;