From e2abaefc447eeb807e84590bf61834026a703674 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 20 Feb 2016 20:02:52 +1100
Subject: [PATCH] Plane: check SCHED_LOOP_RATE for quadplane

---
 ArduPlane/arming_checks.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/ArduPlane/arming_checks.cpp b/ArduPlane/arming_checks.cpp
index 19ae6d1291..ee69c562cb 100644
--- a/ArduPlane/arming_checks.cpp
+++ b/ArduPlane/arming_checks.cpp
@@ -61,6 +61,13 @@ bool AP_Arming_Plane::pre_arm_checks(bool report)
         ret = false;
     }
 
+    if (plane.quadplane.available() && plane.scheduler.get_loop_rate_hz() < 100) {
+        if (report) {
+            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: quadplane needs SCHED_LOOP_RATE > 100");
+        }
+        ret = false;
+    }
+
     return ret;
 }