From 38ef81e9e964de87b2babc90c91414797c1306fe Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 29 Apr 2021 18:53:55 +0100
Subject: [PATCH] AP_Arming: call rcout arming checks

---
 libraries/AP_Arming/AP_Arming.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index e28ec2594e..6bf4adcc2c 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -1175,6 +1175,11 @@ bool AP_Arming::arm_checks(AP_Arming::Method method)
         }
     }
 
+    // enable any pending dshot commands to be flushed before sending actual throttle values
+    if (!hal.rcout->prepare_for_arming()) {
+        return false;
+    }
+
 #if HAL_GYROFFT_ENABLED
     // make sure the FFT subsystem is enabled if arming checks have been disabled
     AP_GyroFFT *fft = AP::fft();