From d1feb93152497bdef11aff2c17dbcd9c4331ee6a Mon Sep 17 00:00:00 2001
From: Matt Lawrence <lawrence.matt@gmail.com>
Date: Wed, 15 Jan 2020 17:30:46 -0500
Subject: [PATCH] Copter: Add GCS failsafe pre-arm check

---
 ArduCopter/AP_Arming.cpp | 12 +++++++++++-
 ArduCopter/AP_Arming.h   |  1 +
 2 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
index 88bf7147fa..1e721e47ba 100644
--- a/ArduCopter/AP_Arming.cpp
+++ b/ArduCopter/AP_Arming.cpp
@@ -60,7 +60,8 @@ bool AP_Arming_Copter::run_pre_arm_checks(bool display_failure)
         & parameter_checks(display_failure)
         & motor_checks(display_failure)
         & pilot_throttle_checks(display_failure)
-        & oa_checks(display_failure) &
+        & oa_checks(display_failure)
+        & gcs_failsafe_check(display_failure) &
         AP_Arming::pre_arm_checks(display_failure);
 }
 
@@ -563,6 +564,15 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
     return true;
 }
 
+// Check GCS failsafe
+bool AP_Arming_Copter::gcs_failsafe_check(bool display_failure)
+{
+    if (copter.failsafe.gcs) {
+        check_failed(display_failure, "GCS failsafe on");
+        return false;
+    }
+    return true;
+}
 
 // arm_checks - perform final checks before arming
 //  always called just before arming.  Return true if ok to arm
diff --git a/ArduCopter/AP_Arming.h b/ArduCopter/AP_Arming.h
index 852acb6e6a..99807fd50c 100644
--- a/ArduCopter/AP_Arming.h
+++ b/ArduCopter/AP_Arming.h
@@ -49,6 +49,7 @@ protected:
     bool pilot_throttle_checks(bool display_failure);
     bool oa_checks(bool display_failure);
     bool mandatory_gps_checks(bool display_failure);
+    bool gcs_failsafe_check(bool display_failure);
 
     void set_pre_arm_check(bool b);