From 54d5883f8763f81a2161bd04e4d2b767ad511b24 Mon Sep 17 00:00:00 2001 From: Henry Wurzburg Date: Fri, 19 Aug 2022 10:06:24 -0500 Subject: [PATCH] ArduCopter: add ARM/MOTOR_EMERGENCY_STOP Aux Switch --- ArduCopter/AP_Arming.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp index 62a9dc9a90..deb66f4737 100644 --- a/ArduCopter/AP_Arming.cpp +++ b/ArduCopter/AP_Arming.cpp @@ -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; }