Copter: arming check for release gripper on thrust loss

ArduPilot · Jul 2, 2024 · ea47500 · ea47500
1 parent 6818942
commit ea47500
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Showing 3 changed files with 10 additions and 2 deletions.
diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
@@ -278,6 +278,14 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
         }
 #endif
 
+#if AP_GRIPPER_ENABLED
+        // check deprecated release-gripper-on-thrust-loss flight option
+        if (copter.option_is_enabled(Copter::FlightOption::RELEASE_GRIPPER_ON_THRUST_LOSS_DEPRECATED)) {
+            check_failed(ARMING_CHECK_PARAMETERS, display_failure, "FLIGHT_OPTIONS has deprecated option set");
+            return false;
+        }
+#endif
+
         // check adsb avoidance failsafe
 #if HAL_ADSB_ENABLED
         if (copter.failsafe.adsb) {

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
@@ -627,7 +627,7 @@ class Copter : public AP_Vehicle {
     enum class FlightOption : uint32_t {
         DISABLE_THRUST_LOSS_CHECK     = (1<<0),   // 1
         DISABLE_YAW_IMBALANCE_WARNING = (1<<1),   // 2
-        RELEASE_GRIPPER_ON_THRUST_LOSS = (1<<2),  // 4
+        RELEASE_GRIPPER_ON_THRUST_LOSS_DEPRECATED = (1<<2), // 4 (deprecated)
         REQUIRE_POSITION_FOR_ARMING =   (1<<3),   // 8
     };
     // returns true if option is enabled for this vehicle

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
@@ -1000,7 +1000,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Param: FLIGHT_OPTIONS
     // @DisplayName: Flight mode options
     // @Description: Flight mode specific options
-    // @Bitmask: 0:Disable thrust loss check, 1:Disable yaw imbalance warning, 2:Release gripper on thrust loss, 3:Require position for arming
+    // @Bitmask: 0:Disable thrust loss check, 1:Disable yaw imbalance warning, 2:Release gripper on thrust loss (removed in 4.6+), 3:Require position for arming
     // @User: Advanced
     AP_GROUPINFO("FLIGHT_OPTIONS", 44, ParametersG2, flight_options, 0),