From 5b7ec1fab499a62cb29adec6c7f2f4ab5931c0ed Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 6 Jul 2021 11:19:53 +1000
Subject: [PATCH] Plane: do not run any prearm checks if we are armed or arming
 is not required

Co-authored-by: TunaLobster <unknown>
---
 ArduPlane/AP_Arming.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
index 19e7246646..057bec9238 100644
--- a/ArduPlane/AP_Arming.cpp
+++ b/ArduPlane/AP_Arming.cpp
@@ -21,6 +21,11 @@ const AP_Param::GroupInfo AP_Arming_Plane::var_info[] = {
  */
 bool AP_Arming_Plane::pre_arm_checks(bool display_failure)
 {
+    if (armed || require == (uint8_t)Required::NO) {
+        // if we are already armed or don't need any arming checks
+        // then skip the checks
+        return true;
+    }
     //are arming checks disabled?
     if (checks_to_perform == 0) {
         return true;