From 86cb111268f6faec5f927ea8f2d19029aaba7c91 Mon Sep 17 00:00:00 2001
From: Gone4Dirt <matthewnkear@gmail.com>
Date: Thu, 22 Feb 2024 18:23:30 +0000
Subject: [PATCH] Copter: Heli: Prevent mode change to autorotation unless
 armed.

---
 ArduCopter/heli.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/heli.cpp b/ArduCopter/heli.cpp
index d8cdc4402c9c94..ef3266af04e138 100644
--- a/ArduCopter/heli.cpp
+++ b/ArduCopter/heli.cpp
@@ -210,7 +210,7 @@ void Copter::heli_update_autorotation()
 #endif
 
     // check if flying and interlock disengaged
-    if (!ap.land_complete && !motors->get_interlock()) {
+    if (!ap.land_complete && !motors->get_interlock() && motors->armed()) {
 #if MODE_AUTOROTATE_ENABLED == ENABLED
         if (g2.arot.is_enable()) {
             if (!flightmode->has_manual_throttle()) {