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Copter: skip throttle high arm check when arming in AUTO

This commit is contained in:
Akshat Upadhyay 2022-10-19 00:58:13 +05:30 committed by Randy Mackay
parent 0dc878564f
commit 928c3557af
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/AP_Arming.cpp
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@ -630,7 +630,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
const char *rc_item = "Throttle"; const char *rc_item = "Throttle";
#endif #endif
// check throttle is not too high - skips checks if arming from GCS in Guided // check throttle is not too high - skips checks if arming from GCS in Guided
if (!(method == AP_Arming::Method::MAVLINK && (copter.flightmode->mode_number() == Mode::Number::GUIDED || copter.flightmode->mode_number() == Mode::Number::GUIDED_NOGPS))) { if (!(method == AP_Arming::Method::MAVLINK && (copter.flightmode->mode_number() == Mode::Number::GUIDED || copter.flightmode->mode_number() == Mode::Number::GUIDED_NOGPS || copter.flightmode->mode_number() == Mode::Number::AUTO))) {
// above top of deadband is too always high // above top of deadband is too always high
if (copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in()) > 0.0f) { if (copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in()) > 0.0f) {
check_failed(ARMING_CHECK_RC, true, "%s too high", rc_item); check_failed(ARMING_CHECK_RC, true, "%s too high", rc_item);