From 83828e2e06d9241cf98521f30b3946c7ce9aafb8 Mon Sep 17 00:00:00 2001
From: ashvath <ashvath100@gmail.com>
Date: Wed, 29 Jan 2020 22:22:59 +0530
Subject: [PATCH] Copter: Pre-arm check for mot_pwm

---
 ArduCopter/AP_Arming.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
index 1a039a2bf8..36a4634c03 100644
--- a/ArduCopter/AP_Arming.cpp
+++ b/ArduCopter/AP_Arming.cpp
@@ -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");