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Copter: sonar pre-arm check only if optflow enabled

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This commit is contained in:
Randy Mackay 2015-06-16 17:58:22 +09:00
parent 43d6060ba7
commit 5e40ad5c38
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/motors.cpp
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@ -513,9 +513,9 @@ bool Copter::pre_arm_checks(bool display_failure)
return false;
}
#if CONFIG_SONAR == ENABLED
// check range finder
if (!sonar.pre_arm_check()) {
#if CONFIG_SONAR == ENABLED && OPTFLOW == ENABLED
// check range finder if optflow enabled
if (optflow.enabled() && !sonar.pre_arm_check()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: check range finder"));
}