From 4014ec055fcc7617e2b2e6cfc0121c307d1ef73f Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Thu, 27 Jan 2022 15:35:57 +0000 Subject: [PATCH] Copter: don't disable e-stop if there is no swtich --- ArduCopter/AP_Arming.cpp | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp index 415c26d019..16ed88452a 100644 --- a/ArduCopter/AP_Arming.cpp +++ b/ArduCopter/AP_Arming.cpp @@ -642,12 +642,8 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method) return false; } - // if we are not using Emergency Stop switch option, force Estop false to ensure motors - // can run normally - if (!rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_ESTOP)){ - SRV_Channels::set_emergency_stop(false); - // if we are using motor Estop switch, it must not be in Estop position - } else if (SRV_Channels::get_emergency_stop()){ + // if we are using motor Estop switch, it must not be in Estop position + if (SRV_Channels::get_emergency_stop()){ check_failed(true, "Motor Emergency Stopped"); return false; }