From 16e21d42ee06d7cdda262498cda33021aab8d9cc Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Fri, 21 Oct 2022 13:50:45 -0500
Subject: [PATCH] AP_Arming:  move multiple RC input error to pre-arm failure

---
 libraries/AP_Arming/AP_Arming.cpp | 15 ++++++++++++++-
 libraries/AP_Arming/AP_Arming.h   |  2 ++
 2 files changed, 16 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 4073de0fcc..f6643b1896 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -49,6 +49,7 @@
 #include <AP_RPM/AP_RPM.h>
 #include <AP_Mount/AP_Mount.h>
 #include <AP_OpenDroneID/AP_OpenDroneID.h>
+#include <AP_SerialManager/AP_SerialManager.h>
 
 #if HAL_MAX_CAN_PROTOCOL_DRIVERS
   #include <AP_CANManager/AP_CANManager.h>
@@ -1407,6 +1408,16 @@ bool AP_Arming::opendroneid_checks(bool display_failure)
     return true;
 }
 
+//Check for multiple RC in serial protocols
+bool AP_Arming::serial_protocol_checks(bool display_failure)
+{
+    if (AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_RCIN, 1)) {
+       check_failed(display_failure, "Multiple SERIAL ports configured for RC input");
+       return false;
+    }
+    return true;
+}
+
 bool AP_Arming::pre_arm_checks(bool report)
 {
 #if !APM_BUILD_COPTER_OR_HELI
@@ -1445,7 +1456,8 @@ bool AP_Arming::pre_arm_checks(bool report)
         &  aux_auth_checks(report)
         &  disarm_switch_checks(report)
         &  fence_checks(report)
-        &  opendroneid_checks(report);
+        &  opendroneid_checks(report)
+        &  serial_protocol_checks(report);
 }
 
 bool AP_Arming::arm_checks(AP_Arming::Method method)
@@ -1503,6 +1515,7 @@ bool AP_Arming::mandatory_checks(bool report)
     ret &= opendroneid_checks(report);
 #endif
     ret &= rc_in_calibration_check(report);
+    ret &= serial_protocol_checks(report);
     return ret;
 }
 
diff --git a/libraries/AP_Arming/AP_Arming.h b/libraries/AP_Arming/AP_Arming.h
index b32543d52b..19af52eef3 100644
--- a/libraries/AP_Arming/AP_Arming.h
+++ b/libraries/AP_Arming/AP_Arming.h
@@ -201,6 +201,8 @@ protected:
     bool generator_checks(bool report) const;
 
     bool opendroneid_checks(bool display_failure);
+    
+    bool serial_protocol_checks(bool display_failure);
 
     virtual bool system_checks(bool report);