From 8d5b9521ad3386de4415a2cd6965026261d5c3f9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 31 Oct 2018 11:05:45 +1100
Subject: [PATCH] AP_Arming: added IOMCU health check

---
 libraries/AP_Arming/AP_Arming.cpp | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index a0f674b8d3..4df8f2a585 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -79,6 +79,11 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
     AP_GROUPEND
 };
 
+#if HAL_WITH_IO_MCU
+#include <AP_IOMCU/AP_IOMCU.h>
+extern AP_IOMCU iomcu;
+#endif
+
 AP_Arming::AP_Arming()
 {
     AP_Param::setup_object_defaults(this, var_info);
@@ -508,6 +513,13 @@ bool AP_Arming::servo_checks(bool report) const
         }
     }
 
+#if HAL_WITH_IO_MCU
+    if (!iomcu.healthy()) {
+        check_failed(ARMING_CHECK_NONE, report, "IOMCU is unhealthy");
+        check_passed = false;
+    }
+#endif
+    
     return check_passed;
 }