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AP_Arming: warn about uncalibrated throttle but do not fail check

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We can tighten this check up later, and will allow us to use
this common function for Plane and Rover in the future
This commit is contained in:
Peter Barker 2017-08-10 09:14:31 +10:00 committed by Randy Mackay
parent a2af13c17e
commit 7173025b43
1 changed files with 8 additions and 3 deletions
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11
libraries/AP_Arming/AP_Arming.cpp
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@ -600,21 +600,26 @@ bool AP_Arming::rc_checks_copter_sub(const bool display_failure, const RC_Channe
}
ret = false;
}
bool fail = true;
if (i == 2) {
// skip checking trim for throttle as older code did not check it
continue;
fail = false;
}
if (channel->get_radio_trim() < channel->get_radio_min()) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: %s radio trim below min", channel_name);
}
ret = false;
if (fail) {
ret = false;
}
}
if (channel->get_radio_trim() > channel->get_radio_max()) {
if (display_failure) {
gcs().send_text(MAV_SEVERITY_CRITICAL,"PreArm: %s radio trim above max", channel_name);
}
ret = false;
if (fail) {
ret = false;
}
}
}
return ret;