From fb682a61cb2db72c043c38c799b8d63abfbf45d5 Mon Sep 17 00:00:00 2001
From: Tatsuya Yamaguchi <susumu-336@hotmail.co.jp>
Date: Thu, 17 Jun 2021 10:14:31 +0900
Subject: [PATCH] AP_Arming: add flight mode conflict check

---
 libraries/AP_Arming/AP_Arming.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 549c0f3aa2..189cf92e87 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -578,6 +578,10 @@ bool AP_Arming::rc_arm_checks(AP_Arming::Method method)
         check_failed(ARMING_CHECK_PARAMETERS, true, "Duplicate Aux Switch Options");
         check_passed = false;
     }
+    if (rc().flight_mode_channel_conflicts_with_rc_option()) {
+        check_failed(ARMING_CHECK_PARAMETERS, true, "Mode channel and RC%d_OPTION conflict", rc().flight_mode_channel_number());
+        check_passed = false;
+    }
     const RCMapper * rcmap = AP::rcmap();
     if (rcmap != nullptr) {
         if (!rc().arming_skip_checks_rpy()) {