From ee15be3bb335c78cda53268e76e492e7cbee08d8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 6 Mar 2019 09:46:20 +1100
Subject: [PATCH] Rover: fix multi-motors prearm check

---
 APMrover2/AP_MotorsUGV.cpp | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/APMrover2/AP_MotorsUGV.cpp b/APMrover2/AP_MotorsUGV.cpp
index ca3966fd23..a88af59c78 100644
--- a/APMrover2/AP_MotorsUGV.cpp
+++ b/APMrover2/AP_MotorsUGV.cpp
@@ -424,13 +424,11 @@ bool AP_MotorsUGV::pre_arm_check(bool report) const
     for (uint8_t i=0; i<_motors_num; i++)
     {
         SRV_Channel::Aux_servo_function_t function = SRV_Channels::get_motor_function(i);
-        if (SRV_Channels::function_assigned(function)) {
-            return true;
-        } else {
+        if (!SRV_Channels::function_assigned(function)) {
             if (report) {
-                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: check %u", function);
-                return false;
+                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: servo function %u unassigned", function);
             }
+            return false;
         }
     }
     return true;