From 920d5cefbb9fa0005cbb51eb65beba0c04cde560 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 26 Aug 2015 12:54:14 +0900
Subject: [PATCH] Copter: always check GPS before arming in Loiter

---
 ArduCopter/motors.cpp | 22 +++++++++++-----------
 1 file changed, 11 insertions(+), 11 deletions(-)

diff --git a/ArduCopter/motors.cpp b/ArduCopter/motors.cpp
index ad2b4f7eef..2c2526799c 100644
--- a/ArduCopter/motors.cpp
+++ b/ArduCopter/motors.cpp
@@ -627,12 +627,6 @@ bool Copter::pre_arm_gps_checks(bool display_failure)
         return false;
     }
 
-    // return true immediately if gps check is disabled
-    if (!(g.arming_check == ARMING_CHECK_ALL || g.arming_check & ARMING_CHECK_GPS)) {
-        AP_Notify::flags.pre_arm_gps_check = true;
-        return true;
-    }
-
     // check if flight mode requires GPS
     bool gps_required = mode_requires_GPS(control_mode);
 
@@ -667,6 +661,12 @@ bool Copter::pre_arm_gps_checks(bool display_failure)
         return false;
     }
 
+    // return true immediately if gps check is disabled
+    if (!(g.arming_check == ARMING_CHECK_ALL || g.arming_check & ARMING_CHECK_GPS)) {
+        AP_Notify::flags.pre_arm_gps_check = true;
+        return true;
+    }
+
     // warn about hdop separately - to prevent user confusion with no gps lock
     if (gps.get_hdop() > g.gps_hdop_good) {
         if (display_failure) {
@@ -723,6 +723,11 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
         return false;
     }
 
+    // always check gps
+    if (!pre_arm_gps_checks(display_failure)) {
+        return false;
+    }
+
     // always check if rotor is spinning on heli
 #if FRAME_CONFIG == HELI_FRAME
     // heli specific arming check
@@ -761,11 +766,6 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
         }
     }
 
-    // check gps
-    if (!pre_arm_gps_checks(display_failure)) {
-        return false;
-    }
-
 #if AC_FENCE == ENABLED
     // check vehicle is within fence
     if(!fence.pre_arm_check()) {