From 89c660eab5477c762f9056987c3280d8bc0dde54 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 22 Aug 2016 16:13:46 +0900
Subject: [PATCH] Copter: add pre-arm check for proximity sensor

---
 ArduCopter/arming_checks.cpp | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/ArduCopter/arming_checks.cpp b/ArduCopter/arming_checks.cpp
index 82ece5534f..d076d8e7f8 100644
--- a/ArduCopter/arming_checks.cpp
+++ b/ArduCopter/arming_checks.cpp
@@ -380,6 +380,17 @@ bool Copter::parameter_checks(bool display_failure)
             return false;
         }
         #endif
+
+        #if PROXIMITY_ENABLED == ENABLED
+        // check proximity sensor if enabled
+        if (copter.proximity.get_status() == AP_Proximity::Proximity_NoData) {
+            if (display_failure) {
+                gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: check proximity sensor");
+            }
+            return false;
+        }
+        #endif
+
         #if FRAME_CONFIG == HELI_FRAME
         // check helicopter parameters
         if (!motors.parameter_check(display_failure)) {