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Copter: check all channels have been configured, not just throttle

This commit is contained in:
Peter Barker 2017-01-20 13:40:42 +11:00 committed by Randy Mackay
parent d2b2ddcb02
commit e7d3219a58
1 changed files with 7 additions and 5 deletions
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12
ArduCopter/AP_Arming.cpp
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@ -343,11 +343,6 @@ void AP_Arming_Copter::pre_arm_rc_checks(const bool display_failure)
return;
}
// check if radio has been calibrated
if (!copter.channel_throttle->min_max_configured()) {
return;
}
const RC_Channel *channels[] = {
copter.channel_roll,
copter.channel_pitch,
@ -359,6 +354,13 @@ void AP_Arming_Copter::pre_arm_rc_checks(const bool display_failure)
for (uint8_t i=0; i<ARRAY_SIZE(channels);i++) {
const RC_Channel *channel = channels[i];
const char *channel_name = channel_names[i];
// check if radio has been calibrated
if (!channel->min_max_configured()) {
if (display_failure) {
copter.gcs_send_text_fmt(MAV_SEVERITY_CRITICAL,"PreArm: %s not configured", channel_name);
}
return;
}
if (channel->get_radio_min() > 1300) {
if (display_failure) {
copter.gcs_send_text_fmt(MAV_SEVERITY_CRITICAL,"PreArm: %s radio min too high", channel_name);