Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: move motors check to be must-run prearm

Browse Source 
motors check would be run twice on arm without this.

After this change, even if ARMING_CHECKS is 0 the user will be warned they need to set FRAME_CLASS and FRAME_TYPE, rather than just when they try to arm the vehicle.
This commit is contained in:
Peter Barker 2022-08-04 12:26:54 +10:00 committed by Randy Mackay
parent f5a8561fde
commit a5dadd2694
1 changed files with 5 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
ArduCopter/AP_Arming.cpp
View File

@ -42,13 +42,17 @@ bool AP_Arming_Copter::run_pre_arm_checks(bool display_failure)
return false;
}
// always check motors
if (!motor_checks(display_failure)) {
return false;
}
// if pre arm checks are disabled run only the mandatory checks
if (checks_to_perform == 0) {
return mandatory_checks(display_failure);
}
return parameter_checks(display_failure)
& motor_checks(display_failure)
& oa_checks(display_failure)
& gcs_failsafe_check(display_failure)
& winch_checks(display_failure)
@ -576,11 +580,6 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
return false;
}
// always check motors
if (!motor_checks(true)) {
return false;
}
// succeed if arming checks are disabled
if (checks_to_perform == 0) {
return true;