AP_Motors: Add motor test checks method to refuse test

libraries/AP_Motors/AP_MotorsHeli.cpp

@@ -618,6 +618,13 @@ bool AP_MotorsHeli::arming_checks(size_t buflen, char *buffer) const
     return true;
 }
 
+// Tell user motor test is disabled on heli
+bool AP_MotorsHeli::motor_test_checks(size_t buflen, char *buffer) const
+{
+    hal.util->snprintf(buffer, buflen, "Disabled on heli");
+    return false;
+}
+
 // get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
 //  this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
 uint32_t AP_MotorsHeli::get_motor_mask()

libraries/AP_Motors/AP_MotorsHeli.h

@@ -159,6 +159,9 @@ public:
     // Run arming checks
     bool arming_checks(size_t buflen, char *buffer) const override;
 
+    // Tell user motor test is disabled on heli
+    bool motor_test_checks(size_t buflen, char *buffer) const override;
+
     // output_test_seq - disabled on heli, do nothing
     void _output_test_seq(uint8_t motor_seq, int16_t pwm) override {};
 

libraries/AP_Motors/AP_Motors_Class.cpp

@@ -293,6 +293,14 @@ bool AP_Motors::arming_checks(size_t buflen, char *buffer) const
     return true;
 }
 
+bool AP_Motors::motor_test_checks(size_t buflen, char *buffer) const
+{
+    // Must pass base class arming checks (the function above)
+    // Do not run frame specific arming checks as motor test is less strict
+    // For example not all the outputs have to be assigned
+    return AP_Motors::arming_checks(buflen, buffer);
+}
+
 namespace AP {
     AP_Motors *motors()
     {

libraries/AP_Motors/AP_Motors_Class.h

@@ -111,6 +111,7 @@ public:
 
     // check initialisation succeeded
     virtual bool        arming_checks(size_t buflen, char *buffer) const;
+    virtual bool        motor_test_checks(size_t buflen, char *buffer) const;
     bool                initialised_ok() const { return _initialised_ok; }
     void                set_initialised_ok(bool val) { _initialised_ok = val; }