From c17549c7ffa747c4b87884899f8045679042f2c9 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 9 Dec 2017 15:54:47 +0900 Subject: [PATCH] AP_Arming: integrate pre arm check if regular and skid steering configured --- APMrover2/AP_Arming.cpp | 5 +++++ APMrover2/AP_Arming.h | 1 + 2 files changed, 6 insertions(+) diff --git a/APMrover2/AP_Arming.cpp b/APMrover2/AP_Arming.cpp index e7938db3a0..a57a5430bf 100644 --- a/APMrover2/AP_Arming.cpp +++ b/APMrover2/AP_Arming.cpp @@ -69,3 +69,8 @@ bool AP_Arming_Rover::gps_checks(bool display_failure) // call parent gps checks return AP_Arming::gps_checks(display_failure); } + +bool AP_Arming_Rover::pre_arm_checks(bool report) +{ + return rover.g2.motors.pre_arm_check(report) & AP_Arming::pre_arm_checks(report); +} diff --git a/APMrover2/AP_Arming.h b/APMrover2/AP_Arming.h index 7117b9cff3..c3fd74028e 100644 --- a/APMrover2/AP_Arming.h +++ b/APMrover2/AP_Arming.h @@ -18,6 +18,7 @@ public: AP_Arming_Rover(const AP_Arming_Rover &other) = delete; AP_Arming_Rover &operator=(const AP_Baro&) = delete; + bool pre_arm_checks(bool report) override; bool pre_arm_rc_checks(const bool display_failure); bool gps_checks(bool display_failure) override;