From de6ea50f41162097f6803e0f9453ebb8fd0a2e74 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Thu, 7 Jul 2016 20:04:28 -0700
Subject: [PATCH] Fix reverse throttle check

---
 src/AutoPilotPlugins/Common/RadioComponentController.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/AutoPilotPlugins/Common/RadioComponentController.cc b/src/AutoPilotPlugins/Common/RadioComponentController.cc
index 6e70cd4e6..827b11b55 100644
--- a/src/AutoPilotPlugins/Common/RadioComponentController.cc
+++ b/src/AutoPilotPlugins/Common/RadioComponentController.cc
@@ -752,7 +752,7 @@ void RadioComponentController::_writeCalibration(void)
         _uas->stopCalibration();
     }
 
-    if (!_px4Vehicle() && _rgChannelInfo[_rgFunctionChannelMapping[rcCalFunctionThrottle]].reversed) {
+    if (!_px4Vehicle() && (_vehicle->vehicleType() == MAV_TYPE_HELICOPTER || _vehicle->multiRotor()) &&  _rgChannelInfo[_rgFunctionChannelMapping[rcCalFunctionThrottle]].reversed) {
         // A reversed throttle could lead to dangerous power up issues if the firmware doesn't handle it absolutely correctly in all places.
         // So in this case fail the calibration for anything other than PX4 which is known to be able to handle this correctly.
         emit throttleReversedCalFailure();
-- 
2.22.0