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Plane: Quadplane: check with motors if motor test is allowed

This commit is contained in:
Iampete1 2023-06-18 20:01:27 +01:00 committed by Randy Mackay
parent 717f82f104
commit 6b106c401c
1 changed files with 8 additions and 0 deletions
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8
ArduPlane/motor_test.cpp
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@ -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