From 92de71f9935595e1604a2953def84f44d6ec39ef Mon Sep 17 00:00:00 2001
From: Robert Lefebvre <robert.lefebvre@gmail.com>
Date: Wed, 8 Jul 2015 13:15:20 -0400
Subject: [PATCH] Copter: Check helicopter parameters during Pre-Arm Checks

---
 ArduCopter/motors.cpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/ArduCopter/motors.cpp b/ArduCopter/motors.cpp
index a3ebab5497..264ae69a4e 100644
--- a/ArduCopter/motors.cpp
+++ b/ArduCopter/motors.cpp
@@ -536,6 +536,15 @@ bool Copter::pre_arm_checks(bool display_failure)
             return false;
         }
 #endif
+#if FRAME_CONFIG == HELI_FRAME
+        // check helicopter parameters
+        if (!motors.parameter_check()) {
+            if (display_failure) {
+                gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check Heli Parameters"));
+            }
+            return false;
+        }
+#endif // HELI_FRAME
     }
 
     // check throttle is above failsafe throttle