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Copter: Pre-arm check for mot_pwm

This commit is contained in:
ashvath 2020-01-29 22:22:59 +05:30 committed by Andrew Tridgell
parent 5a78cd44bd
commit 83828e2e06
1 changed files with 8 additions and 0 deletions
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8
ArduCopter/AP_Arming.cpp
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@ -144,6 +144,14 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
// check various parameter values
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_PARAMETERS)) {
// checks MOT_PWM_MIN/MAX for acceptable values
#if (FRAME_CONFIG != HELI_FRAME)
if (copter.motors->check_mot_pwm_params()) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Check MOT_PWM_MAX/MIN");
return false;
}
#endif
// ensure all rc channels have different functions
if (rc().duplicate_options_exist()) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Duplicate Aux Switch Options");