From 81935f6b7ca8993556da20a2d22fd96e30f2dc85 Mon Sep 17 00:00:00 2001
From: Jacob Walser <jwalser90@gmail.com>
Date: Fri, 24 Feb 2017 18:09:43 -0500
Subject: [PATCH] Sub: Handle RC input for SITL autotest

---
 ArduSub/arming_checks.cpp | 3 +++
 ArduSub/radio.cpp         | 2 ++
 2 files changed, 5 insertions(+)

diff --git a/ArduSub/arming_checks.cpp b/ArduSub/arming_checks.cpp
index 9d58809875..db34900c55 100644
--- a/ArduSub/arming_checks.cpp
+++ b/ArduSub/arming_checks.cpp
@@ -20,10 +20,13 @@ void Sub::update_arming_checks(void)
 // performs pre-arm checks and arming checks
 bool Sub::all_arming_checks_passing(bool arming_from_gcs)
 {
+#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
     if (failsafe.manual_control) {
         gcs_send_text(MAV_SEVERITY_WARNING, "Arming requires manual control");
         return false;
     }
+#endif
+
     if (pre_arm_checks(true)) {
         set_pre_arm_check(true);
     }
diff --git a/ArduSub/radio.cpp b/ArduSub/radio.cpp
index 5bc1e7e677..989835d9ca 100644
--- a/ArduSub/radio.cpp
+++ b/ArduSub/radio.cpp
@@ -44,6 +44,7 @@ void Sub::init_rc_in()
     // set default dead zones
     default_dead_zones();
 
+#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
     // initialize rc input to 1500 on control channels (rather than 0)
     for (int i = 0; i < 7; i++) {
         if (i == 4) {
@@ -52,6 +53,7 @@ void Sub::init_rc_in()
             hal.rcin->set_override(i, 1500);
         }
     }
+#endif
 
     // initialise throttle_zero flag
     ap.throttle_zero = true;