Merge pull request #3608 from Vidalcris/patch-1

Update pid.c CrashRecovery

src/main/flight/pid.c

@@ -450,7 +450,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
             previousRateError[axis] = rD;
 
             // if crash recovery is on and accelerometer enabled then check for a crash
-            if (pidProfile->crash_recovery && sensors(SENSOR_ACC)) {
+            if (pidProfile->crash_recovery && inCrashRecoveryMode == false && sensors(SENSOR_ACC) && ARMING_FLAG(ARMED)) {
                 if (motorMixRange >= 1.0f
                         && ABS(delta) > crashDtermThreshold
                         && ABS(errorRate) > crashGyroThreshold