From 961eeb3b58de1614503603e1aa0bb37e8f66660e Mon Sep 17 00:00:00 2001
From: Rishabh <f20171602@hyderabad.bits-pilani.ac.in>
Date: Thu, 6 Feb 2020 15:37:10 +0530
Subject: [PATCH] Rover: disallow arming in RTL and S_RTL mode

---
 APMrover2/AP_Arming.cpp | 13 ++++++++++++-
 APMrover2/AP_Arming.h   |  1 +
 2 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/APMrover2/AP_Arming.cpp b/APMrover2/AP_Arming.cpp
index 670b2e2b7f..56ce4fc25e 100644
--- a/APMrover2/AP_Arming.cpp
+++ b/APMrover2/AP_Arming.cpp
@@ -86,7 +86,8 @@ bool AP_Arming_Rover::pre_arm_checks(bool report)
             & rover.g2.motors.pre_arm_check(report)
             & fence_checks(report)
             & oa_check(report)
-            & parameter_checks(report));
+            & parameter_checks(report)
+            & mode_checks(report));
 }
 
 bool AP_Arming_Rover::arm_checks(AP_Arming::Method method)
@@ -185,3 +186,13 @@ bool AP_Arming_Rover::parameter_checks(bool report)
     return true;
 }
 
+// check if arming allowed from this mode
+bool AP_Arming_Rover::mode_checks(bool report)
+{   
+    //display failure if arming in this mode is not allowed
+    if (!rover.control_mode->allows_arming()) {
+        check_failed(report, "Mode not armable");
+        return false;
+    }
+    return true;
+}
diff --git a/APMrover2/AP_Arming.h b/APMrover2/AP_Arming.h
index 9c2e6bc1b3..fb7fda6be3 100644
--- a/APMrover2/AP_Arming.h
+++ b/APMrover2/AP_Arming.h
@@ -30,5 +30,6 @@ protected:
     // the following check functions do not call into AP_Arming
     bool oa_check(bool report);
     bool parameter_checks(bool report);
+    bool mode_checks(bool report);
 
 };