From 804efb51e061a8e917c544609c359b81f0e5247c Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sat, 18 Sep 2021 00:52:34 +0100
Subject: [PATCH] Copter: Only run AP_ARMING throttle arming check if
 PILOT_THR_BHV bit "Feedback from mid stick" is not set

---
 ArduCopter/RC_Channel.cpp | 10 ++++++++++
 ArduCopter/RC_Channel.h   |  3 +++
 2 files changed, 13 insertions(+)

diff --git a/ArduCopter/RC_Channel.cpp b/ArduCopter/RC_Channel.cpp
index a44f732976..a27a3183d8 100644
--- a/ArduCopter/RC_Channel.cpp
+++ b/ArduCopter/RC_Channel.cpp
@@ -48,6 +48,16 @@ bool RC_Channels_Copter::has_valid_input() const
     return true;
 }
 
+// returns true if throttle arming checks should be run
+bool RC_Channels_Copter::arming_check_throttle() const {
+    if ((copter.g.throttle_behavior & THR_BEHAVE_FEEDBACK_FROM_MID_STICK) != 0) {
+        // center sprung throttle configured, dont run AP_Arming check
+        // Copter already checks this case in its own arming checks
+        return false;
+    }
+    return RC_Channels::arming_check_throttle();
+}
+
 RC_Channel * RC_Channels_Copter::get_arming_channel(void) const
 {
     return copter.channel_yaw;
diff --git a/ArduCopter/RC_Channel.h b/ArduCopter/RC_Channel.h
index 9e9eb360c8..0a5c33cca2 100644
--- a/ArduCopter/RC_Channel.h
+++ b/ArduCopter/RC_Channel.h
@@ -42,6 +42,9 @@ public:
         return &obj_channels[chan];
     }
 
+    // returns true if throttle arming checks should be run
+    bool arming_check_throttle() const override;
+
 protected:
 
     int8_t flight_mode_channel_number() const override;