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AP_Arming: add pre-arm check for VTOL manual forward throttle

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This commit is contained in:
Mark Whitehorn 2020-06-09 16:03:31 -06:00 committed by Andrew Tridgell
parent 2af6e255d1
commit 285f16e829
1 changed files with 10 additions and 1 deletions
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11
libraries/AP_Arming/AP_Arming.cpp
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@ -578,13 +578,22 @@ bool AP_Arming::rc_arm_checks(AP_Arming::Method method)
}
if (rc().arming_check_throttle()) {
const RC_Channel *c = rc().channel(rcmap->throttle() - 1);
RC_Channel *c = rc().channel(rcmap->throttle() - 1);
if (c != nullptr) {
if (c->get_control_in() != 0) {
check_failed(ARMING_CHECK_RC, true, "Throttle (RC%d) is not neutral", rcmap->throttle());
check_passed = false;
}
}
c = rc().find_channel_for_option(RC_Channel::AUX_FUNC::FWD_THR);
if (c != nullptr) {
uint8_t fwd_thr = c->percent_input();
// require channel input within 2% of minimum
if (fwd_thr > 2) {
check_failed(ARMING_CHECK_RC, true, "VTOL Fwd Throttle is not zero");
check_passed = false;
}
}
}
}
return check_passed;