From f7a788dc44b003542f41438fe6fa4f1049f04257 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Mon, 30 Aug 2021 16:53:22 +0100
Subject: [PATCH] AP_Arming: add rc_in_calibration_check to
 manual_transmitter_checks and mandatory_checks

---
 libraries/AP_Arming/AP_Arming.cpp | 16 +++++++++++++++-
 libraries/AP_Arming/AP_Arming.h   |  4 +++-
 2 files changed, 18 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 3cce73d0c0..7650546657 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -686,6 +686,15 @@ bool AP_Arming::rc_calibration_checks(bool report)
     return check_passed;
 }
 
+bool AP_Arming::rc_in_calibration_check(bool report)
+{
+    if (rc().calibrating()) {
+        check_failed(ARMING_CHECK_RC, report, "RC calibrating");
+        return false;
+    }
+    return true;
+}
+
 bool AP_Arming::manual_transmitter_checks(bool report)
 {
     if ((checks_to_perform & ARMING_CHECK_ALL) ||
@@ -701,7 +710,7 @@ bool AP_Arming::manual_transmitter_checks(bool report)
         }
     }
 
-    return true;
+    return rc_in_calibration_check(report);
 }
 
 bool AP_Arming::mission_checks(bool report)
@@ -1331,6 +1340,11 @@ bool AP_Arming::arm_checks(AP_Arming::Method method)
     return true;
 }
 
+bool AP_Arming::mandatory_checks(bool report)
+{
+    return rc_in_calibration_check(report);
+}
+
 //returns true if arming occurred successfully
 bool AP_Arming::arm(AP_Arming::Method method, const bool do_arming_checks)
 {
diff --git a/libraries/AP_Arming/AP_Arming.h b/libraries/AP_Arming/AP_Arming.h
index d2955d28ed..17ec0aed86 100644
--- a/libraries/AP_Arming/AP_Arming.h
+++ b/libraries/AP_Arming/AP_Arming.h
@@ -158,6 +158,8 @@ protected:
 
     virtual bool rc_calibration_checks(bool report);
 
+    bool rc_in_calibration_check(bool report);
+
     bool rc_arm_checks(AP_Arming::Method method);
 
     bool manual_transmitter_checks(bool report);
@@ -195,7 +197,7 @@ protected:
     bool disarm_switch_checks(bool report) const;
 
     // mandatory checks that cannot be bypassed.  This function will only be called if ARMING_CHECK is zero or arming forced
-    virtual bool mandatory_checks(bool report) { return true; }
+    virtual bool mandatory_checks(bool report);
 
     // returns true if a particular check is enabled
     bool check_enabled(const enum AP_Arming::ArmingChecks check) const;