Sub:stop spammin depth sensor messages

Author: Hwurzburg

ArduSub/mode.cpp

@@ -95,9 +95,9 @@ bool Sub::set_mode(Mode::Number mode, ModeReason reason)
 
     // check for valid altitude if old mode did not require it but new one does
     // we only want to stop changing modes if it could make things worse
-    if (!sub.control_check_barometer() && // maybe use ekf_alt_ok() instead?
-        flightmode->has_manual_throttle() &&
-        !new_flightmode->has_manual_throttle()) {
+    if (flightmode->has_manual_throttle() &&
+        !new_flightmode->has_manual_throttle() &&
+        !sub.control_check_barometer()) { // maybe use ekf_alt_ok() instead?
         gcs().send_text(MAV_SEVERITY_WARNING, "Mode change failed: %s need alt estimate", new_flightmode->name());
         LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode));
         return false;