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Copter: remove pilot_throttle_checks()

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This method is redundant as throttle below FS_THR_THROTTLE value is already checked in set_throttle_and_failsafe() method.
This commit is contained in:
Shiv Tyagi 2021-10-30 21:19:51 +05:30 committed by Randy Mackay
parent 09388b7408
commit 8b526526c2
2 changed files with 0 additions and 21 deletions
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20
ArduCopter/AP_Arming.cpp
View File

@ -58,7 +58,6 @@ bool AP_Arming_Copter::run_pre_arm_checks(bool display_failure)
return parameter_checks(display_failure)
& motor_checks(display_failure)
& pilot_throttle_checks(display_failure)
& oa_checks(display_failure)
& gcs_failsafe_check(display_failure)
& winch_checks(display_failure)
@ -344,25 +343,6 @@ bool AP_Arming_Copter::motor_checks(bool display_failure)
return true;
}
bool AP_Arming_Copter::pilot_throttle_checks(bool display_failure)
{
// check throttle is above failsafe throttle
// this is near the bottom to allow other failures to be displayed before checking pilot throttle
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_RC)) {
if (copter.g.failsafe_throttle != FS_THR_DISABLED && copter.channel_throttle->get_radio_in() < copter.g.failsafe_throttle_value) {
#if FRAME_CONFIG == HELI_FRAME
const char *failmsg = "Collective below Failsafe";
#else
const char *failmsg = "Throttle below Failsafe";
#endif
check_failed(ARMING_CHECK_RC, display_failure, "%s", failmsg);
return false;
}
}
return true;
}
bool AP_Arming_Copter::oa_checks(bool display_failure)
{
#if AC_OAPATHPLANNER_ENABLED == ENABLED

1
ArduCopter/AP_Arming.h
View File

@ -45,7 +45,6 @@ protected:
// NOTE! the following check functions *DO NOT* call into AP_Arming!
bool parameter_checks(bool display_failure);
bool motor_checks(bool display_failure);
bool pilot_throttle_checks(bool display_failure);
bool oa_checks(bool display_failure);
bool mandatory_gps_checks(bool display_failure);
bool gcs_failsafe_check(bool display_failure);