From 2227e00e99dbb4eea6cf27bec9843a753954a717 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 10 Sep 2024 08:36:38 +1000
Subject: [PATCH] Plane: don't run TECS update_speed_height() when in idle mode

---
 ArduPlane/ArduPlane.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 8eb32848e8d25..137a895f2e326 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -217,6 +217,10 @@ void Plane::update_speed_height(void)
     }
 #endif
 
+    if (auto_state.idle_mode) {
+        should_run_tecs = false;
+    }
+
 #if AP_PLANE_GLIDER_PULLUP_ENABLED
     if (mode_auto.in_pullup()) {
         should_run_tecs = false;