From e89f4ea599d4cf979fce7c9c07cf90b0030f37c3 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 27 Jul 2022 10:18:06 +1000 Subject: [PATCH] AP_Arming: add prearm check that we are using configured AHRS type --- libraries/AP_Arming/AP_Arming.cpp | 7 ------- 1 file changed, 7 deletions(-) diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp index f6c574bd80..8b9be2992e 100644 --- a/libraries/AP_Arming/AP_Arming.cpp +++ b/libraries/AP_Arming/AP_Arming.cpp @@ -432,13 +432,6 @@ bool AP_Arming::ins_checks(bool report) check_failed(ARMING_CHECK_INS, report, "temperature cal running"); return false; } - - // check AHRS attitudes are consistent - char failure_msg[50] = {}; - if (!AP::ahrs().attitudes_consistent(failure_msg, ARRAY_SIZE(failure_msg))) { - check_failed(ARMING_CHECK_INS, report, "%s", failure_msg); - return false; - } } #if HAL_GYROFFT_ENABLED