From 7fca4607dbb805edc70d67c3c7927a95d99106e8 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sat, 10 Dec 2022 17:43:20 +0000
Subject: [PATCH] AP_RangeFinder: skip GPIO arming check on analog backend

---
 libraries/AP_RangeFinder/AP_RangeFinder.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/AP_RangeFinder/AP_RangeFinder.cpp b/libraries/AP_RangeFinder/AP_RangeFinder.cpp
index 2d731ff335..b349ced519 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder.cpp
@@ -854,6 +854,11 @@ bool RangeFinder::prearm_healthy(char *failure_msg, const uint8_t failure_msg_le
                 hal.util->snprintf(failure_msg, failure_msg_len, "RNGFND%u_PIN not set", unsigned(i + 1));
                 return false;
             }
+            if (drivers[i]->allocated_type() == Type::ANALOG) {
+                // Analog backend does not use GPIO pin
+                break;
+            }
+
             // ensure that the pin we're configured to use is available
             if (!hal.gpio->valid_pin(params[i].pin)) {
                 uint8_t servo_ch;