mirror of https://github.com/ArduPilot/ardupilot
Rover: disallow arming in RTL and S_RTL mode
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999061704e
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961eeb3b58
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@ -86,7 +86,8 @@ bool AP_Arming_Rover::pre_arm_checks(bool report)
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& rover.g2.motors.pre_arm_check(report)
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& fence_checks(report)
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& oa_check(report)
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& parameter_checks(report));
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& parameter_checks(report)
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& mode_checks(report));
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}
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bool AP_Arming_Rover::arm_checks(AP_Arming::Method method)
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@ -185,3 +186,13 @@ bool AP_Arming_Rover::parameter_checks(bool report)
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return true;
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}
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// check if arming allowed from this mode
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bool AP_Arming_Rover::mode_checks(bool report)
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{
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//display failure if arming in this mode is not allowed
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if (!rover.control_mode->allows_arming()) {
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check_failed(report, "Mode not armable");
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return false;
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}
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return true;
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}
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@ -30,5 +30,6 @@ protected:
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// the following check functions do not call into AP_Arming
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bool oa_check(bool report);
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bool parameter_checks(bool report);
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bool mode_checks(bool report);
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};
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