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Copter: Clean up helicopter allow_arming() function

This commit is contained in:
Robert Lefebvre 2015-07-08 11:45:42 -04:00 committed by Randy Mackay
parent f3496356b2
commit e2fe640e6c
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -342,15 +342,15 @@ void AP_MotorsHeli::output_test(uint8_t motor_seq, int16_t pwm)
}
}
// allow_arming - returns true if main rotor is spinning and it is ok to arm
// allow_arming - check if it's safe to arm
bool AP_MotorsHeli::allow_arming() const
{
// ensure main rotor has started
if (_rsc_mode != AP_MOTORS_HELI_RSC_MODE_NONE && _servo_rsc.control_in > 0) {
// returns false if main rotor desired speed is not zero
if (_rsc_mode != AP_MOTORS_HELI_RSC_MODE_NONE && _desired_rotor_speed > 0) {
return false;
}
// all other cases it is ok to arm
// all other cases it is OK to arm
return true;
}