From 67f80be7f7bf27e5634f669c00afe4498875a30c Mon Sep 17 00:00:00 2001
From: Alise Au <20424172+ahiuchingau@users.noreply.github.com>
Date: Mon, 22 Apr 2024 18:04:31 -0400
Subject: [PATCH] fix(api): remove homing patch fix for right mount when a
 96-channel is attached (#14975)

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# Overview
We now [unconditionally home the
axis](https://github.com/Opentrons/opentrons/pull/14955) before
performing the homing move so we can now remove this patch. If we leave
this in, the head R is going to raise an error when the robot boots up
the first time because it will not be able to update the position
estimation.
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---
 api/src/opentrons/hardware_control/ot3api.py | 8 +-------
 1 file changed, 1 insertion(+), 7 deletions(-)

diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
index 0c02ff07727..972a521a0bd 100644
--- a/api/src/opentrons/hardware_control/ot3api.py
+++ b/api/src/opentrons/hardware_control/ot3api.py
@@ -1522,14 +1522,8 @@ async def _home_axis(self, axis: Axis) -> None:
         # G, Q should be handled in the backend through `self._home()`
         assert axis not in [Axis.G, Axis.Q]
 
-        # TODO(CM): This is a temporary fix in response to the right mount causing
-        # errors while trying to home on startup or attachment. We should remove this
-        # when we fix this issue in the firmware.
-        enable_right_mount_on_startup = (
-            self._gantry_load == GantryLoad.HIGH_THROUGHPUT and axis == Axis.Z_R
-        )
         encoder_ok = self._backend.check_encoder_status([axis])
-        if encoder_ok or enable_right_mount_on_startup:
+        if encoder_ok:
             # enable motor (if needed) and update estimation
             await self._enable_before_update_estimation(axis)