Copter: Warn user with motors while copter is arming

ArduCopter/motors.pde

@@ -110,6 +110,9 @@ static void init_arm_motors()
 
     // disable cpu failsafe because initialising everything takes a while
     failsafe_disable();
+    
+    motors.enable();
+    motors.output_unsafe();
 
 #if LOGGING_ENABLED == ENABLED
     // start dataflash
@@ -178,9 +181,6 @@ static void init_arm_motors()
     piezo_beep_twice();
 #endif
 
-    // enable output to motors
-    output_min();
-
     // finally actually arm the motors
     motors.armed(true);
 

libraries/AP_Motors/AP_MotorsMatrix.cpp

@@ -453,6 +453,19 @@ void AP_MotorsMatrix::output_disarmed()
     output_min();
 }
 
+void AP_MotorsMatrix::output_unsafe()
+{
+    int8_t i;
+    
+    // fill the motor_out[] array for HIL use and send minimum value to each motor
+    for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
+        if( motor_enabled[i] ) {
+            motor_out[i] = _rc_throttle->radio_min + constrain_int16(_throttle_unsafe,0,AP_MOTORS_THROTTLE_UNSAFE_MAX);;
+            hal.rcout->write(_motor_to_channel_map[i], motor_out[i]);
+        }
+    }
+}
+
 // output_disarmed - sends commands to the motors
 void AP_MotorsMatrix::output_test()
 {

libraries/AP_Motors/AP_MotorsMatrix.h

@@ -50,6 +50,8 @@ public:
 
     // add_motor using just position and yaw_factor (or prop direction)
     void                add_motor(int8_t motor_num, float angle_degrees, float yaw_factor, uint8_t testing_order);
+    
+    void output_unsafe();
 
     // remove_motor
     void                remove_motor(int8_t motor_num);

libraries/AP_Motors/AP_Motors_Class.h

@@ -85,6 +85,8 @@ public:
 
     // enable - starts allowing signals to be sent to motors
     virtual void        enable() = 0;
+    
+    virtual void output_unsafe() = 0;
 
     // arm, disarm or check status status of motors
     bool                armed() { return _armed; };