From 86ef4a738cb7344904429f175da25058a882f9aa Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 16 Mar 2015 16:45:49 +1100
Subject: [PATCH] Plane: only pass through throttle in failsafe if armed

---
 ArduPlane/failsafe.pde | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/failsafe.pde b/ArduPlane/failsafe.pde
index 4030a1dc93..c9093819a5 100644
--- a/ArduPlane/failsafe.pde
+++ b/ArduPlane/failsafe.pde
@@ -56,7 +56,9 @@ void failsafe_check(void)
         hal.rcin->clear_overrides();
         channel_roll->radio_out     = channel_roll->read();
         channel_pitch->radio_out    = channel_pitch->read();
-        channel_throttle->radio_out = channel_throttle->read();
+        if (hal.util->get_soft_armed()) {
+            channel_throttle->radio_out = channel_throttle->read();
+        }
         channel_rudder->radio_out   = channel_rudder->read();
 
         int16_t roll = channel_roll->pwm_to_angle_dz(0);