mirror of https://github.com/ArduPilot/ardupilot
Copter: skip throttle high arm check when arming in AUTO
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@ -630,7 +630,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
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const char *rc_item = "Throttle";
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#endif
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// check throttle is not too high - skips checks if arming from GCS in Guided
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if (!(method == AP_Arming::Method::MAVLINK && (copter.flightmode->mode_number() == Mode::Number::GUIDED || copter.flightmode->mode_number() == Mode::Number::GUIDED_NOGPS))) {
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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))) {
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// above top of deadband is too always high
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if (copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in()) > 0.0f) {
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check_failed(ARMING_CHECK_RC, true, "%s too high", rc_item);
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