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Copter: don't disable e-stop if there is no swtich

This commit is contained in:
Iampete1 2022-01-27 15:35:57 +00:00 committed by Randy Mackay
parent 56a860bef7
commit 4014ec055f
1 changed files with 2 additions and 6 deletions
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8
ArduCopter/AP_Arming.cpp
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@ -642,12 +642,8 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
return false;
}
// if we are not using Emergency Stop switch option, force Estop false to ensure motors
// can run normally
if (!rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_ESTOP)){
SRV_Channels::set_emergency_stop(false);
// if we are using motor Estop switch, it must not be in Estop position
} else if (SRV_Channels::get_emergency_stop()){
// if we are using motor Estop switch, it must not be in Estop position
if (SRV_Channels::get_emergency_stop()){
check_failed(true, "Motor Emergency Stopped");
return false;
}