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ArduCopter: add ARM/MOTOR_EMERGENCY_STOP Aux Switch

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Henry Wurzburg 2022-08-19 10:06:24 -05:00 committed by Peter Barker
parent 61b0f23ee2
commit 54d5883f87
1 changed files with 3 additions and 2 deletions
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5
ArduCopter/AP_Arming.cpp
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@ -16,10 +16,11 @@ bool AP_Arming_Copter::run_pre_arm_checks(bool display_failure)
return true;
}
// check if motor interlock and Emergency Stop aux switches are used
// check if motor interlock and either Emergency Stop aux switches are used
// at the same time. This cannot be allowed.
if (rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_INTERLOCK) &&
rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_ESTOP)){
(rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_ESTOP) ||
rc().find_channel_for_option(RC_Channel::AUX_FUNC::ARM_EMERGENCY_STOP))){
check_failed(display_failure, "Interlock/E-Stop Conflict");
return false;
}