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Copter: Cancel arming if throttle input above cruise_throttle.

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Jonathan Challinger 2013-06-23 10:11:25 -07:00 committed by Randy Mackay
parent 2725f219cb
commit 9f51a4a4f7
1 changed files with 8 additions and 0 deletions
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8
ArduCopter/motors.pde
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@ -181,6 +181,14 @@ static void init_arm_motors()
piezo_beep_twice();
#endif
// Cancel arming if throttle is raised too high so that copter does not suddenly take off
read_radio();
if (g.rc_3.control_in > g.throttle_cruise && g.throttle_cruise > 100) {
motors.output_min();
failsafe_enable();
return;
}
// finally actually arm the motors
motors.armed(true);