From 58463e67c5c17cb0aa671e05829f8e19940f5ff8 Mon Sep 17 00:00:00 2001 From: Mark Whitehorn Date: Mon, 6 Jul 2020 07:36:26 -0600 Subject: [PATCH] AP_Arming: default throttle pre-arm check to enabled --- libraries/AP_Arming/AP_Arming.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp index 323fb6a511..924563b945 100644 --- a/libraries/AP_Arming/AP_Arming.cpp +++ b/libraries/AP_Arming/AP_Arming.cpp @@ -545,7 +545,7 @@ bool AP_Arming::rc_arm_checks(AP_Arming::Method method) return true; } - // only check if we've recieved some form of input within the last second + // only check if we've received some form of input within the last second // this is a protection against a vehicle having never enabled an input uint32_t last_input_ms = rc().last_input_ms(); if ((last_input_ms == 0) || ((AP_HAL::millis() - last_input_ms) > 1000)) { @@ -577,6 +577,7 @@ bool AP_Arming::rc_arm_checks(AP_Arming::Method method) } } + // if throttle check is enabled, require zero input if (rc().arming_check_throttle()) { RC_Channel *c = rc().channel(rcmap->throttle() - 1); if (c != nullptr) {