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Copter: pre-arm check for ACRO_BAL_ROLL and PITCH

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This commit is contained in:
Randy Mackay 2013-11-18 16:38:05 +09:00
parent 9ee308efd5
commit d003334b75
1 changed files with 8 additions and 0 deletions
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8
ArduCopter/motors.pde
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@ -367,6 +367,14 @@ static void pre_arm_checks(bool display_failure)
} }
return; return;
} }
// acro balance parameter check
if ((g.acro_balance_roll > g.pi_stabilize_roll.kP()) || (g.acro_balance_pitch > g.pi_stabilize_pitch.kP())) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: ACRO_BAL_ROLL/PITCH"));
}
return;
}
} }
// if we've gotten this far then pre arm checks have completed // if we've gotten this far then pre arm checks have completed