From f91e995e98d712211f71ae24b0f52483bc879eba Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 20 Jul 2021 14:20:47 +1000
Subject: [PATCH] AP_Arming: check pin arming_checks

---
 libraries/AP_Arming/AP_Arming.cpp | 22 ++++++++++++++++++++++
 1 file changed, 22 insertions(+)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 70cd30b097..35153bb1af 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -39,6 +39,7 @@
 #include <AP_GyroFFT/AP_GyroFFT.h>
 #include <AP_RCMapper/AP_RCMapper.h>
 #include <AP_VisualOdom/AP_VisualOdom.h>
+#include <AP_Parachute/AP_Parachute.h>
 #include <AP_OSD/AP_OSD.h>
 
 #if HAL_MAX_CAN_PROTOCOL_DRIVERS
@@ -852,6 +853,27 @@ bool AP_Arming::system_checks(bool report)
         return false;
     }
 
+    if (check_enabled(ARMING_CHECK_PARAMETERS)) {
+        auto *rpm = AP::rpm();
+        char buffer[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1] {};
+        if (rpm && !rpm->arming_checks(sizeof(buffer), buffer)) {
+            check_failed(ARMING_CHECK_PARAMETERS, report, "%s", buffer);
+            return false;
+        }
+        auto *relay = AP::relay();
+        if (relay && !relay->arming_checks(sizeof(buffer), buffer)) {
+            check_failed(ARMING_CHECK_PARAMETERS, report, "%s", buffer);
+            return false;
+        }
+#if HAL_PARACHUTE_ENABLED
+        auto *chute = AP::parachute();
+        if (chute && !chute->arming_checks(sizeof(buffer), buffer)) {
+            check_failed(ARMING_CHECK_PARAMETERS, report, "%s", buffer);
+            return false;
+        }
+#endif
+    }
+
     return true;
 }