From 6b106c401c4de48d9eeb16c1bc7b15013d5c7a73 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sun, 18 Jun 2023 20:01:27 +0100
Subject: [PATCH] Plane: Quadplane: check with motors if motor test is allowed

---
 ArduPlane/motor_test.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/ArduPlane/motor_test.cpp b/ArduPlane/motor_test.cpp
index cfc640cab9..67dee708b5 100644
--- a/ArduPlane/motor_test.cpp
+++ b/ArduPlane/motor_test.cpp
@@ -87,6 +87,14 @@ MAV_RESULT QuadPlane::mavlink_motor_test_start(mavlink_channel_t chan, uint8_t m
         gcs().send_text(MAV_SEVERITY_INFO, "Must be disarmed for motor test");
         return MAV_RESULT_FAILED;
     }
+
+    // Check Motor test is allowed
+    char failure_msg[50] {};
+    if (!motors->motor_test_checks(ARRAY_SIZE(failure_msg), failure_msg)) {
+        gcs().send_text(MAV_SEVERITY_CRITICAL,"Motor Test: %s", failure_msg);
+        return MAV_RESULT_FAILED;
+    }
+
     // if test has not started try to start it
     if (!motor_test.running) {
         // start test