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Copter: Arming: ensure frame class is appropriate for build FRAME_CONFIG

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Peter Barker 2019-07-03 20:27:26 +10:00 committed by Randy Mackay
parent cf45108efb
commit bf6f10e448
1 changed files with 14 additions and 0 deletions
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14
ArduCopter/AP_Arming.cpp
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@ -172,6 +172,13 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
#endif #endif
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
if (copter.g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI_QUAD &&
copter.g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI_DUAL &&
copter.g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Invalid Heli FRAME_CLASS");
return false;
}
// check helicopter parameters // check helicopter parameters
if (!copter.motors->parameter_check(display_failure)) { if (!copter.motors->parameter_check(display_failure)) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Heli motors checks failed"); check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Heli motors checks failed");
@ -189,6 +196,13 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
return false; return false;
} }
#else
if (copter.g2.frame_class.get() == AP_Motors::MOTOR_FRAME_HELI_QUAD ||
copter.g2.frame_class.get() == AP_Motors::MOTOR_FRAME_HELI_DUAL ||
copter.g2.frame_class.get() == AP_Motors::MOTOR_FRAME_HELI) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Invalid MultiCopter FRAME_CLASS");
return false;
}
#endif // HELI_FRAME #endif // HELI_FRAME
// check for missing terrain data // check for missing terrain data