Copter: add and use new allows_GCS_arming_with_throttle_high mode m…

…ethod
ArduPilot · Sep 21, 2024 · 86add22 · 86add22
1 parent cb1a156
commit 86add22
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Showing 2 changed files with 10 additions and 1 deletion.
diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
@@ -611,7 +611,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
         const char *rc_item = "Throttle";
 #endif
         // check throttle is not too high - skips checks if arming from GCS/scripting in Guided,Guided_NoGPS or Auto 
-        if (!((AP_Arming::method_is_GCS(method) || method == AP_Arming::Method::SCRIPTING) && (copter.flightmode->mode_number() == Mode::Number::GUIDED || copter.flightmode->mode_number() == Mode::Number::GUIDED_NOGPS || copter.flightmode->mode_number() == Mode::Number::AUTO))) {
+        if (!((AP_Arming::method_is_GCS(method) || method == AP_Arming::Method::SCRIPTING) && copter.flightmode->allows_GCS_or_SCR_arming_with_throttle_high())) {
             // above top of deadband is too always high
             if (copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in()) > 0.0f) {
                 check_failed(ARMING_CHECK_RC, true, "%s too high", rc_item);

diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
@@ -130,6 +130,9 @@ class Mode {
     virtual bool allows_flip() const { return false; }
     virtual bool crash_check_enabled() const { return true; }
 
+    // Return true if the throttle high arming check can be skipped when arming from GCS or Scripting
+    virtual bool allows_GCS_or_SCR_arming_with_throttle_high() const { return false; }
+
 #if FRAME_CONFIG == HELI_FRAME
     virtual bool allows_inverted() const { return false; };
 #endif
@@ -509,6 +512,9 @@ class ModeAuto : public Mode {
     bool allows_inverted() const override { return true; };
 #endif
 
+    // Return true if the throttle high arming check can be skipped when arming from GCS or Scripting
+    bool allows_GCS_or_SCR_arming_with_throttle_high() const override { return true; }
+
     // Auto modes
     enum class SubMode : uint8_t {
         TAKEOFF,
@@ -1047,6 +1053,9 @@ class ModeGuided : public Mode {
 
     bool requires_terrain_failsafe() const override { return true; }
 
+    // Return true if the throttle high arming check can be skipped when arming from GCS or Scripting
+    bool allows_GCS_or_SCR_arming_with_throttle_high() const override { return true; }
+
     // Sets guided's angular target submode: Using a rotation quaternion, angular velocity, and climbrate or thrust (depends on user option)
     // attitude_quat: IF zero: ang_vel (angular velocity) must be provided even if all zeroes
     //                IF non-zero: attitude_control is performed using both the attitude quaternion and angular velocity