From 6a5fb54b048cea13f6f3266c31b646cc81954bf8 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 13 Nov 2022 15:38:37 +1100 Subject: [PATCH] AP_Arming: update docs for new THR_MIN behaviour on plane --- libraries/AP_Arming/AP_Arming.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp index 4b78d3cda4..9507a49005 100644 --- a/libraries/AP_Arming/AP_Arming.cpp +++ b/libraries/AP_Arming/AP_Arming.cpp @@ -91,8 +91,8 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = { // @Param{Plane, Rover}: REQUIRE // @DisplayName: Require Arming Motors - // @Description: Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately). If 1, require rudder stick or GCS arming before arming motors and sends the minimum throttle PWM value to the throttle channel when disarmed. If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane. Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure. - // @Values: 0:Disabled,1:THR_MIN PWM when disarmed,2:0 PWM when disarmed + // @Description: Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately). If 1, require rudder stick or GCS arming before arming motors and sends the minimum throttle PWM value to the throttle channel when disarmed. If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane. Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure. On planes with ICE enabled and the throttle while disarmed option set in ICE_OPTIONS the motor will get THR_MIN when disarmed. + // @Values: 0:Disabled,1:minimum PWM when disarmed,2:0 PWM when disarmed // @User: Advanced AP_GROUPINFO_FLAGS_FRAME("REQUIRE", 0, AP_Arming, require, float(Required::YES_MIN_PWM), AP_PARAM_FLAG_NO_SHIFT,