Copter: sonar pre-arm check only if optflow enabled

10 years ago · 5e40ad5c38
1 changed files with 3 additions and 3 deletions
--- a/ArduCopter/motors.cpp
+++ b/ArduCopter/motors.cpp
@ -513,9 +513,9 @@ bool Copter::pre_arm_checks(bool display_failure)
				@@ -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"));
            }