AP_Arming: Determine the channel's MIN and MAX values as intermediate…

… values
muramura · Apr 19, 2023 · f426093 · f426093
1 parent cf20a70
commit f426093
Showing 1 changed file with 11 additions and 0 deletions.
diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
@@ -761,6 +761,17 @@ bool AP_Arming::rc_calibration_checks(bool report)
             check_failed(ARMING_CHECK_RC, report, "RC%d_MAX is less than RC%d_TRIM", i + 1, i + 1);
             check_passed = false;
         }
+
+        // Expect the width of the channel to be above and below the center plus and minus 200 PMM
+        uint16_t center =  c->get_radio_max() - c->get_radio_min() / 2;
+        if (c->get_radio_min() > center) {
+            check_failed(ARMING_CHECK_RC, report, "RC%d_MIN is greater than %d %d", i + 1, center);
+            check_passed = false;
+        }
+        if (c->get_radio_max() < center) {
+            check_failed(ARMING_CHECK_RC, report, "RC%d_MAX is less than %d %d", i + 1, center);
+            check_passed = false;
+        }
     }
 
     return check_passed;