Heteronomy (n.) opposes morality even when the action it produces is lawful.
Heteronomy (n.) is when the will gives itself not the law but only a precept for rational compliance with pathological laws.
Heteronomy (n.) arises whenever the will goes out of itself and seeks its law in the character of its objects; then the object gives the law.
Heteronomy (n.) is the prime foundation of every earlier morality — happiness, moral sense, perfection, God's will — and that is why they all necessarily miss their aim.
Heteronomy (n.) is any law not originating in one's own will, which therefore needs some interest — attraction or constraint — to bind us, and so can never be a moral command.