From 1ff443d667cc835ec12d401123796f8d41ba486c Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 13 Apr 2015 13:11:28 +0900
Subject: [PATCH] Copter: add rangefinder pre-arm check

---
 ArduCopter/motors.pde | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index e8976f0ef7..3f6c960b4b 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -439,6 +439,16 @@ static bool pre_arm_checks(bool display_failure)
             }
             return false;
         }
+
+#if CONFIG_SONAR == ENABLED
+        // check range finder
+        if (!sonar.pre_arm_check()) {
+            if (display_failure) {
+                gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: check range finder"));
+            }
+            return false;
+        }
+#endif
     }
 
     // if we've gotten this far then pre arm checks have completed