From 7cd77f266ef4678350224949bc4980126b9b3d25 Mon Sep 17 00:00:00 2001
From: rishabsingh3003 <rishabh.singh100358@gmail.com>
Date: Mon, 22 Aug 2022 23:10:26 +0530
Subject: [PATCH] AP_Arming: shift pre-arm check to AP_Proximity

---
 libraries/AP_Arming/AP_Arming.cpp | 11 ++++-------
 1 file changed, 4 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 2323acec7d..cbbfbaffde 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -1078,15 +1078,12 @@ bool AP_Arming::proximity_checks(bool report) const
     if (proximity == nullptr) {
         return true;
     }
-    if (proximity->get_status() == AP_Proximity::Status::NotConnected) {
-        return true;
-    }
-
-    // return false if proximity sensor unhealthy
-    if (proximity->get_status() < AP_Proximity::Status::Good) {
-        check_failed(report, "check proximity sensor");
+    char buffer[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
+    if (!proximity->prearm_healthy(buffer, ARRAY_SIZE(buffer))) {
+        check_failed(report, "%s", buffer);
         return false;
     }
+    return true;
 #endif
 
     return true;