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Copter: remove redundant fence checks

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Now checked as part of continuous prearm
This commit is contained in:
Peter Barker 2017-09-04 14:42:07 +10:00 committed by Randy Mackay
parent 04af1cb331
commit b3b1680e11
1 changed files with 0 additions and 11 deletions
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11
ArduCopter/AP_Arming.cpp
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@ -561,17 +561,6 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
return true;
}
#if AC_FENCE == ENABLED
// check vehicle is within fence
const char *fail_msg = nullptr;
if (!copter.fence.pre_arm_check(fail_msg)) {
if (display_failure && fail_msg != nullptr) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Arm: %s", fail_msg);
}
return false;
}
#endif
// check lean angle
if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_INS)) {
if (degrees(acosf(ahrs.cos_roll()*ahrs.cos_pitch()))*100.0f > copter.aparm.angle_max) {