From 0b1f2174206d7d9153602096f7173c6beeefa053 Mon Sep 17 00:00:00 2001
From: Robert Lefebvre <robert.lefebvre@gmail.com>
Date: Wed, 4 Feb 2015 18:39:12 -0500
Subject: [PATCH] Copter: Add PreArm check for radio trims.

---
 ArduCopter/motors.pde | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index 8d2e4a4e27..79df489de2 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -475,6 +475,16 @@ static void pre_arm_rc_checks()
         return;
     }
 
+    // check channels 1 & 2 have trim >= 1300 and <= 1700
+    if (g.rc_1.radio_trim < 1300 || g.rc_1.radio_trim > 1700 || g.rc_2.radio_trim < 1300 || g.rc_2.radio_trim > 1700) {
+        return;
+    }
+
+    // check channels 3 & 4 have trim >= 1300 and <= 1700
+    if (g.rc_3.radio_trim < 1300 || g.rc_3.radio_trim > 1700 || g.rc_4.radio_trim < 1300 || g.rc_4.radio_trim > 1700) {
+        return;
+    }
+
     // if we've gotten this far rc is ok
     set_pre_arm_rc_check(true);
 }