From df3a7d32ea2daed48957f3db97ee5bb601de35bc Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 30 May 2019 12:29:21 +1000
Subject: [PATCH] Rover: move common proximity pre-arm checks up

---
 APMrover2/AP_Arming.cpp | 20 +-------------------
 APMrover2/AP_Arming.h   |  1 -
 2 files changed, 1 insertion(+), 20 deletions(-)

diff --git a/APMrover2/AP_Arming.cpp b/APMrover2/AP_Arming.cpp
index 6bc08c669c..2985b9dfcf 100644
--- a/APMrover2/AP_Arming.cpp
+++ b/APMrover2/AP_Arming.cpp
@@ -92,8 +92,7 @@ bool AP_Arming_Rover::pre_arm_checks(bool report)
 
     return (AP_Arming::pre_arm_checks(report)
             & rover.g2.motors.pre_arm_check(report)
-            & fence_checks(report)
-            & proximity_check(report));
+            & fence_checks(report));
 }
 
 bool AP_Arming_Rover::arm_checks(AP_Arming::Method method)
@@ -105,23 +104,6 @@ bool AP_Arming_Rover::arm_checks(AP_Arming::Method method)
     return AP_Arming::arm_checks(method);
 }
 
-// check nothing is too close to vehicle
-bool AP_Arming_Rover::proximity_check(bool report)
-{
-    // return true immediately if no sensor present
-    if (rover.g2.proximity.get_status() == AP_Proximity::Proximity_NotConnected) {
-        return true;
-    }
-
-    // return false if proximity sensor unhealthy
-    if (rover.g2.proximity.get_status() < AP_Proximity::Proximity_Good) {
-        check_failed(ARMING_CHECK_NONE, report, "check proximity sensor");
-        return false;
-    }
-
-    return true;
-}
-
 void AP_Arming_Rover::update_soft_armed()
 {
     hal.util->set_soft_armed(is_armed() &&
diff --git a/APMrover2/AP_Arming.h b/APMrover2/AP_Arming.h
index e52349cb9b..52306a3374 100644
--- a/APMrover2/AP_Arming.h
+++ b/APMrover2/AP_Arming.h
@@ -27,7 +27,6 @@ public:
     void update_soft_armed();
 
 protected:
-    bool proximity_check(bool report);
 
 private: