From 6038a4d8c73cc8dfa674bb003a35d11ba8c120e7 Mon Sep 17 00:00:00 2001
From: Mirko Denecke <mirkix@gmail.com>
Date: Tue, 9 Jan 2024 18:47:54 +0100
Subject: [PATCH] AR_Motors: fix prearm for omni outputs

---
 libraries/AR_Motors/AP_MotorsUGV.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AR_Motors/AP_MotorsUGV.cpp b/libraries/AR_Motors/AP_MotorsUGV.cpp
index c9e351b2be..90b8ef9915 100644
--- a/libraries/AR_Motors/AP_MotorsUGV.cpp
+++ b/libraries/AR_Motors/AP_MotorsUGV.cpp
@@ -494,7 +494,8 @@ bool AP_MotorsUGV::pre_arm_check(bool report) const
        !have_throttle &&
        !SRV_Channels::function_assigned(SRV_Channel::k_steering) &&
        !SRV_Channels::function_assigned(SRV_Channel::k_scripting1) &&
-       !has_sail()) {
+       !has_sail() &&
+       !is_omni()) {
         if (report) {
             GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "PreArm: no motor, sail or scripting outputs defined");
         }