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Copter: pre-arm check of FS_GCS_ENABLE=2

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This commit is contained in:
Randy Mackay 2020-12-08 14:07:41 +09:00
parent 42b85c88ed
commit e1aaea0834
1 changed files with 4 additions and 0 deletions
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4
ArduCopter/AP_Arming.cpp
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@ -159,6 +159,10 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
return false; return false;
} }
} }
if (copter.g.failsafe_gcs == FS_GCS_ENABLED_CONTINUE_MISSION) {
// FS_GCS_ENABLE == 2 has been removed
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "FS_GCS_ENABLE=2 removed, see FS_OPTIONS");
}
// lean angle parameter check // lean angle parameter check
if (copter.aparm.angle_max < 1000 || copter.aparm.angle_max > 8000) { if (copter.aparm.angle_max < 1000 || copter.aparm.angle_max > 8000) {