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Copter: add rangefinder pre-arm check

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This commit is contained in:
Randy Mackay 2015-04-13 13:11:28 +09:00
parent 8ed6207ca8
commit 1ff443d667
1 changed files with 10 additions and 0 deletions
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10
ArduCopter/motors.pde
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@ -439,6 +439,16 @@ static bool pre_arm_checks(bool display_failure)
}
return false;
}
#if CONFIG_SONAR == ENABLED
// check range finder
if (!sonar.pre_arm_check()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: check range finder"));
}
return false;
}
#endif
}
// if we've gotten this far then pre arm checks have completed