From b64bdcdfda067de20061b0cc3bd3962aef43fdc5 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 24 Oct 2018 13:46:23 +0900
Subject: [PATCH] Rover: remove proximity check from arming checks

it is OK for rovers to be armed very close to objects especially when they are beside the rover
---
 APMrover2/AP_Arming.cpp | 12 ------------
 1 file changed, 12 deletions(-)

diff --git a/APMrover2/AP_Arming.cpp b/APMrover2/AP_Arming.cpp
index 260e1a9121..40dfd23641 100644
--- a/APMrover2/AP_Arming.cpp
+++ b/APMrover2/AP_Arming.cpp
@@ -88,17 +88,5 @@ bool AP_Arming_Rover::proximity_check(bool report)
         return false;
     }
 
-    // get closest object if we might use it for avoidance
-    float angle_deg, distance;
-    if (rover.g2.avoid.proximity_avoidance_enabled() && rover.g2.proximity.get_closest_object(angle_deg, distance)) {
-        // display error if something is within 60cm
-        if (distance <= 0.6f) {
-            if (report) {
-                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Proximity %d deg, %4.2fm", static_cast<int32_t>(angle_deg), static_cast<double>(distance));
-            }
-            return false;
-        }
-    }
-
     return true;
 }