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AR_Motors: remove arming check to allow ackerman and skid-steering

This commit is contained in:
Randy Mackay 2022-08-22 13:44:39 +09:00
parent 0665f9c32b
commit adac463154
1 changed files with 0 additions and 10 deletions
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10
libraries/AR_Motors/AP_MotorsUGV.cpp
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@ -454,16 +454,6 @@ bool AP_MotorsUGV::output_test_pwm(motor_test_order motor_seq, float pwm)
// returns true if checks pass, false if they fail. report should be true to send text messages to GCS
bool AP_MotorsUGV::pre_arm_check(bool report) const
{
// check if both regular and skid steering functions have been defined
if (SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft) &&
SRV_Channels::function_assigned(SRV_Channel::k_throttleRight) &&
SRV_Channels::function_assigned(SRV_Channel::k_throttle) &&
SRV_Channels::function_assigned(SRV_Channel::k_steering)) {
if (report) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: regular AND skid steering configured");
}
return false;
}
// check if only one of skid-steering output has been configured
if (SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft) != SRV_Channels::function_assigned(SRV_Channel::k_throttleRight)) {
if (report) {