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Copter: arming check that throttle is above failsafe

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This commit is contained in:
Randy Mackay 2013-11-02 14:06:19 +09:00
parent a692790342
commit d06d999903
1 changed files with 9 additions and 1 deletions
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10
ArduCopter/motors.pde
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@ -389,10 +389,18 @@ static bool pre_arm_gps_checks()
static bool arm_checks(bool display_failure) static bool arm_checks(bool display_failure)
{ {
// succeed if arming checks are disabled // succeed if arming checks are disabled
if(!g.arming_check_enabled) { if (!g.arming_check_enabled) {
return true; return true;
} }
// check throttle is above failsafe throttle
if (g.failsafe_throttle != FS_THR_DISABLED && g.rc_3.radio_in < g.failsafe_throttle_value) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Thr below FS"));
}
return false;
}
// check gps is ok if required - note this same check is also done in pre-arm checks // check gps is ok if required - note this same check is also done in pre-arm checks
if (mode_requires_GPS(control_mode) && !pre_arm_gps_checks()) { if (mode_requires_GPS(control_mode) && !pre_arm_gps_checks()) {
if (display_failure) { if (display_failure) {