AP_Motors: display message in heli parameter_check()

libraries/AP_Motors/AP_MotorsHeli.cpp

@@ -22,6 +22,7 @@
 #include <stdlib.h>
 #include <AP_HAL/AP_HAL.h>
 #include "AP_MotorsHeli.h"
+#include <GCS_MAVLink/GCS.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -272,25 +273,37 @@ void AP_MotorsHeli::output_disarmed()
 }
 
 // parameter_check - check if helicopter specific parameters are sensible
-bool AP_MotorsHeli::parameter_check() const
+bool AP_MotorsHeli::parameter_check(bool display_msg) const
 {
     // returns false if _rsc_setpoint is not higher than _rsc_critical as this would not allow rotor_runup_complete to ever return true
     if (_rsc_critical >= _rsc_setpoint) {
+        if (display_msg) {
+            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: H_RSC_CRITICAL too large"));
+        }
         return false;
     }
 
     // returns false if RSC Mode is not set to a valid control mode
     if (_rsc_mode <= (int8_t)ROTOR_CONTROL_MODE_DISABLED || _rsc_mode > (int8_t)ROTOR_CONTROL_MODE_CLOSED_LOOP_POWER_OUTPUT) {
+        if (display_msg) {
+            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: H_RSC_MODE invalid"));
+        }
         return false;
     }
 
     // returns false if RSC Runup Time is less than Ramp time as this could cause undesired behaviour of rotor speed estimate
     if (_rsc_runup_time <= _rsc_ramp_time){
+        if (display_msg) {
+            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: H_RUNUP_TIME too small"));
+        }
         return false;
     }
 
     // returns false if idle output is higher than critical rotor speed as this could block runup_complete from going false
     if ( _rsc_idle_output >=  _rsc_critical){
+        if (display_msg) {
+            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: H_RSC_IDLE too large"));
+        }
         return false;
     }
 

libraries/AP_Motors/AP_MotorsHeli.h

@@ -102,7 +102,7 @@ public:
     virtual bool allow_arming() const = 0;
 
     // parameter_check - returns true if helicopter specific parameters are sensible, used for pre-arm check
-    bool parameter_check() const;
+    bool parameter_check(bool display_msg) const;
 
     // has_flybar - returns true if we have a mechical flybar
     virtual bool has_flybar() const { return AP_MOTORS_HELI_NOFLYBAR; }