From b3b1680e11c47926299ff6ad902699dfba791bfb Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Mon, 4 Sep 2017 14:42:07 +1000 Subject: [PATCH] Copter: remove redundant fence checks Now checked as part of continuous prearm --- ArduCopter/AP_Arming.cpp | 11 ----------- 1 file changed, 11 deletions(-) diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp index 791a0466cd..91775fe16e 100644 --- a/ArduCopter/AP_Arming.cpp +++ b/ArduCopter/AP_Arming.cpp @@ -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) {