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Copter: Clearly show the preprocessor

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muramura 2024-06-19 21:20:23 +09:00 committed by Randy Mackay
parent f9bc247121
commit 05d8b0db8a
1 changed files with 5 additions and 5 deletions
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10
ArduCopter/AP_Arming.cpp
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@ -601,11 +601,11 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
// check throttle // check throttle
if (check_enabled(ARMING_CHECK_RC)) { if (check_enabled(ARMING_CHECK_RC)) {
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
const char *rc_item = "Collective"; const char *rc_item = "Collective";
#else #else
const char *rc_item = "Throttle"; const char *rc_item = "Throttle";
#endif #endif
// check throttle is not too high - skips checks if arming from GCS/scripting in Guided,Guided_NoGPS or Auto // check throttle is not too high - skips checks if arming from GCS/scripting in Guided,Guided_NoGPS or Auto
if (!((AP_Arming::method_is_GCS(method) || method == AP_Arming::Method::SCRIPTING) && (copter.flightmode->mode_number() == Mode::Number::GUIDED || copter.flightmode->mode_number() == Mode::Number::GUIDED_NOGPS || copter.flightmode->mode_number() == Mode::Number::AUTO))) { if (!((AP_Arming::method_is_GCS(method) || method == AP_Arming::Method::SCRIPTING) && (copter.flightmode->mode_number() == Mode::Number::GUIDED || copter.flightmode->mode_number() == Mode::Number::GUIDED_NOGPS || copter.flightmode->mode_number() == Mode::Number::AUTO))) {
// above top of deadband is too always high // above top of deadband is too always high
@ -614,12 +614,12 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
return false; return false;
} }
// in manual modes throttle must be at zero // in manual modes throttle must be at zero
#if FRAME_CONFIG != HELI_FRAME #if FRAME_CONFIG != HELI_FRAME
if ((copter.flightmode->has_manual_throttle() || copter.flightmode->mode_number() == Mode::Number::DRIFT) && copter.channel_throttle->get_control_in() > 0) { if ((copter.flightmode->has_manual_throttle() || copter.flightmode->mode_number() == Mode::Number::DRIFT) && copter.channel_throttle->get_control_in() > 0) {
check_failed(ARMING_CHECK_RC, true, "%s too high", rc_item); check_failed(ARMING_CHECK_RC, true, "%s too high", rc_item);
return false; return false;
} }
#endif #endif
} }
} }