Sub: use common RC checking code from AP_Arming

ArduSub/AP_Arming_Sub.cpp

@@ -6,41 +6,15 @@ enum HomeState AP_Arming_Sub::home_status() const
     return sub.ap.home_state;
 }
 
-bool AP_Arming_Sub::rc_check(bool report)
+bool AP_Arming_Sub::rc_check(bool display_failure)
 {
-    // set rc-checks to success if RC checks are disabled
-    if ((checks_to_perform != ARMING_CHECK_ALL) && !(checks_to_perform & ARMING_CHECK_RC)) {
-        return true;
-    }
-
-    static const char* message_fail = "PreArm: Check RC min/max parameters";
-    bool ret = true;
-
-    // check channels 1 & 2 have min <= 1300 and max >= 1700
-    if (sub.channel_roll->get_radio_min() > 1300 || sub.channel_roll->get_radio_max() < 1700 || sub.channel_pitch->get_radio_min() > 1300 || sub.channel_pitch->get_radio_max() < 1700) {
-        ret = false;
-    }
-
-    // check channels 3 & 4 have min <= 1300 and max >= 1700
-    if (sub.channel_throttle->get_radio_min() > 1300 || sub.channel_throttle->get_radio_max() < 1700 || sub.channel_yaw->get_radio_min() > 1300 || sub.channel_yaw->get_radio_max() < 1700) {
-        ret = false;
-    }
-
-    // check channels 1 & 2 have trim >= 1300 and <= 1700
-    if (sub.channel_roll->get_radio_trim() < 1300 || sub.channel_roll->get_radio_trim() > 1700 || sub.channel_pitch->get_radio_trim() < 1300 || sub.channel_pitch->get_radio_trim() > 1700) {
-        ret = false;
-    }
-
-    // check channel 4 has trim >= 1300 and <= 1700
-    if (sub.channel_yaw->get_radio_trim() < 1300 || sub.channel_yaw->get_radio_trim() > 1700) {
-        ret = false;
-    }
-
-    if (report && !ret) {
-        gcs().send_text(MAV_SEVERITY_CRITICAL, message_fail);
-    }
-
-    return ret;
+    const RC_Channel *channels[] = {
+        sub.channel_roll,
+        sub.channel_pitch,
+        sub.channel_throttle,
+        sub.channel_yaw
+    };
+    return rc_checks_copter_sub(display_failure, channels);
 }
 
 bool AP_Arming_Sub::pre_arm_checks(bool report)