From c5b119288da6461f6fac7fe3370e12a9c02ad2ab Mon Sep 17 00:00:00 2001
From: Robert Lefebvre <robert.lefebvre@gmail.com>
Date: Fri, 19 Jul 2013 16:16:37 -0400
Subject: [PATCH] TradHeli: Add Motor Runup check to the auto_arming check.

---
 ArduCopter/system.pde | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index d493146baf..4f7cb4957c 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -495,8 +495,14 @@ static void update_auto_armed()
         }
     }else{
         // arm checks
+        
+#if FRAME_CONFIG == HELI_FRAME
+        // for tradheli if motors are armed and throttle is above zero and the motor is started, auto_armed should be true
+        if(motors.armed() && g.rc_3.control_in != 0 && motors.motor_runup_complete) {
+#else
         // if motors are armed and throttle is above zero auto_armed should be true
         if(motors.armed() && g.rc_3.control_in != 0) {
+#endif // HELI_FRAME
             set_auto_armed(true);
         }
     }