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Copter: clear takeoff spool-up block on boards without ESC telemetry #34070

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Copter: clear takeoff spool-up block on boards without ESC telemetry #34070

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11 changes: 9 additions & 2 deletions ArduCopter/takeoff_check.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,13 +7,15 @@
// detects if the vehicle should be allowed to takeoff or not and sets the motors.blocked flag
void Copter::takeoff_check()
{
#if HAL_WITH_ESC_TELEM && FRAME_CONFIG != HELI_FRAME
#if FRAME_CONFIG != HELI_FRAME
// if motors have become unblocked return immediately
// this ensures the motors can only be blocked immediately after arming
uint32_t now_ms = AP_HAL::millis();
if (!motors->get_spoolup_block()) {
takeoff_check_warning_ms = now_ms;
#if HAL_WITH_ESC_TELEM
takeoff_check_state.warning_ms = now_ms;
#endif
return;
}

Expand All @@ -25,8 +27,13 @@ void Copter::takeoff_check()
return;
}

#if HAL_WITH_ESC_TELEM
// Run the common motor checks (called early so it can clear its warning timer when disarmed)
const bool motor_check_passed = motors_takeoff_check(g2.takeoff_rpm_min, g2.takeoff_rpm_max);
#else
// without ESC telemetry there is nothing to check so the motors always pass
const bool motor_check_passed = true;
#endif

// Check system load
float avg_load, peak_load;
Expand All @@ -51,5 +58,5 @@ void Copter::takeoff_check()
gcs().send_text(MAV_SEVERITY_CRITICAL, "%s CPU overload (%4.1f%%)", prefix_str, avg_load);
}
}
#endif
#endif // FRAME_CONFIG != HELI_FRAME
}
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