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AP_MotorsHeli: Change allow_arming check to use _rotor_speed_estimate

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In future, this will be used to check actual rotor speed (measured) if available, to prevent trying to arm with the rotor spinning.
This commit is contained in:
Robert Lefebvre 2015-07-08 16:18:59 -04:00 committed by Randy Mackay
parent 534ba89756
commit abb6eba291
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -345,8 +345,8 @@ void AP_MotorsHeli::output_test(uint8_t motor_seq, int16_t pwm)
// allow_arming - check if it's safe to arm // allow_arming - check if it's safe to arm
bool AP_MotorsHeli::allow_arming() const bool AP_MotorsHeli::allow_arming() const
{ {
// returns false if main rotor desired speed is not zero // returns false if main rotor speed is not zero
if (_rsc_mode != AP_MOTORS_HELI_RSC_MODE_NONE && _desired_rotor_speed > 0) { if (_rsc_mode != AP_MOTORS_HELI_RSC_MODE_NONE && _rotor_speed_estimate > 0) {
return false; return false;
} }