From 213472102c941ce53229c4dfb6c4b32e8e921cfa Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 13 Jul 2013 20:25:34 +0900
Subject: [PATCH] Copter: pre-arm check of throttle failsafe value

Check throttle min is above throttle failsafe trigger and that trigger
is above ppm encoder's loss-of-signal value of 900
---
 ArduCopter/motors.pde | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index c73860ee08..317e50c9f7 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -284,6 +284,17 @@ static void pre_arm_checks(bool display_failure)
     }
 #endif
 
+    // failsafe parameter checks
+    if (g.failsafe_throttle) {
+        // check throttle min is above throttle failsafe trigger and that the trigger is above ppm encoder's loss-of-signal value of 900
+        if (g.rc_3.radio_min <= g.failsafe_throttle_value+10 || g.failsafe_throttle_value < 910) {
+            if (display_failure) {
+                gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check FS_THR_VALUE"));
+            }
+            return;
+        }
+    }
+
     // if we've gotten this far then pre arm checks have completed
     ap.pre_arm_check = true;
 }