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Copter: add pre-arm check for proximity sensor

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This commit is contained in:
Randy Mackay 2016-08-22 16:13:46 +09:00
parent 1665f4d416
commit 89c660eab5
1 changed files with 11 additions and 0 deletions
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11
ArduCopter/arming_checks.cpp
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@ -380,6 +380,17 @@ bool Copter::parameter_checks(bool display_failure)
return false; return false;
} }
#endif #endif
#if PROXIMITY_ENABLED == ENABLED
// check proximity sensor if enabled
if (copter.proximity.get_status() == AP_Proximity::Proximity_NoData) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: check proximity sensor");
}
return false;
}
#endif
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
// check helicopter parameters // check helicopter parameters
if (!motors.parameter_check(display_failure)) { if (!motors.parameter_check(display_failure)) {