From a5dadd2694e0b53316c95a80409621c78ed25f87 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 4 Aug 2022 12:26:54 +1000
Subject: [PATCH] Copter: move motors check to be must-run prearm

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.
---
 ArduCopter/AP_Arming.cpp | 11 +++++------
 1 file changed, 5 insertions(+), 6 deletions(-)

diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
index 8845134bb0..0b3cfd8bf2 100644
--- a/ArduCopter/AP_Arming.cpp
+++ b/ArduCopter/AP_Arming.cpp
@@ -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;