From dbbf6cae5c6f5e534a4901f72c647d953b83d5f8 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 20 Dec 2016 15:06:22 +0900
Subject: [PATCH] Copter: arming check ignores proximity if avoidance disabled

---
 ArduCopter/arming_checks.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/arming_checks.cpp b/ArduCopter/arming_checks.cpp
index 26816c3669..b4f31c60a2 100644
--- a/ArduCopter/arming_checks.cpp
+++ b/ArduCopter/arming_checks.cpp
@@ -620,9 +620,9 @@ bool Copter::pre_arm_proximity_check(bool display_failure)
         return false;
     }
 
-    // get closest object
+    // get closest object if we might use it for avoidance
     float angle_deg, distance;
-    if (g2.proximity.get_closest_object(angle_deg, distance)) {
+    if (avoid.proximity_avoidance_enabled() && g2.proximity.get_closest_object(angle_deg, distance)) {
         // display error if something is within 60cm
         if (distance <= 0.6f) {
             if (display_failure) {