From 9cc494bdc2052a452d424425724af649ced4d159 Mon Sep 17 00:00:00 2001
From: Bill Geyer <bnsgeyer@users.noreply.github.com>
Date: Wed, 20 Mar 2024 11:37:24 -0400
Subject: [PATCH] AC_AttitudeControl: only allow angle boost when not
 autorotating

---
 libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
index e1c276d2b2af77..1881f6f2d1ac98 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
@@ -540,7 +540,7 @@ void AC_AttitudeControl_Heli::set_throttle_out(float throttle_in, bool apply_ang
     update_althold_lean_angle_max(throttle_in);
 
     _motors.set_throttle_filter_cutoff(filter_cutoff);
-    if (apply_angle_boost) {
+    if (apply_angle_boost && !((AP_MotorsHeli&)_motors).get_in_autorotation()) {
         // Apply angle boost
         throttle_in = get_throttle_boosted(throttle_in);
     } else {