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Copter: pre-arm checks for rc ch 1~4 min and max

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This commit is contained in:
Randy Mackay 2013-07-13 21:38:03 +09:00
parent 9d66adae13
commit 2b5f6e2668
1 changed files with 7 additions and 2 deletions
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9
ArduCopter/motors.pde
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@ -312,8 +312,13 @@ static void pre_arm_rc_checks()
return;
}
// check if throttle min is reasonable
if(g.rc_3.radio_min > 1300) {
// check channels 1 & 2 have min <= 1300 and max >= 1700
if (g.rc_1.radio_min > 1300 || g.rc_1.radio_max < 1700 || g.rc_2.radio_min > 1300 || g.rc_2.radio_max < 1700) {
return;
}
// check channels 3 & 4 have min <= 1300 and max >= 1700
if (g.rc_3.radio_min > 1300 || g.rc_3.radio_max < 1700 || g.rc_4.radio_min > 1300 || g.rc_4.radio_max < 1700) {
return;
}