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Plane: Add arming check for incompatible Q_VFWD_GAIN and Q_FWD_THR_USE

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Paul Riseborough 2023-09-07 20:10:50 +10:00 committed by Andrew Tridgell
parent daea00168b
commit 6ad7588857
1 changed files with 5 additions and 0 deletions
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ArduPlane/AP_Arming.cpp
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@ -223,6 +223,11 @@ bool AP_Arming_Plane::quadplane_checks(bool display_failure)
ret = false; ret = false;
} }
if ((plane.quadplane.vel_forward.gain > 0) && (plane.quadplane.q_fwd_thr_use != plane.quadplane.Q_FWD_THR_USE_OFF)) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "set either Q_VFWD_GAIN or Q_FWD_THR_USE to 0");
ret = false;
}
return ret; return ret;
} }
#endif // HAL_QUADPLANE_ENABLED #endif // HAL_QUADPLANE_ENABLED