From 34e874282e7af03426496fbdec1d1e2a2473ce69 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 15 Aug 2013 16:03:57 +0900
Subject: [PATCH] Copter: only check hdop when circular fence enabled

---
 ArduCopter/motors.pde | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index dbea05b799..2ec569a5c6 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -293,7 +293,7 @@ static void pre_arm_checks(bool display_failure)
 
 #if AC_FENCE == ENABLED
     // check fence is initialised
-    if(!fence.pre_arm_check() || (fence.enabled() && g_gps->hdop > g.gps_hdop_good)) {
+    if(!fence.pre_arm_check() || (((fence.get_enabled_fences() & AC_FENCE_TYPE_CIRCLE) != 0) && g_gps->hdop > g.gps_hdop_good)) {
         if (display_failure) {
             gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Bad GPS Pos"));
         }