Mode check remove

src/l500/l500-depth.cpp

@@ -712,16 +712,6 @@ namespace librealsense
             {
                 auto&& sensor_mode_option = get_option(RS2_OPTION_SENSOR_MODE);
                 auto vs = dynamic_cast<video_stream_profile*>((*dp).get());
-                if (supports_option(RS2_OPTION_VISUAL_PRESET))
-                {
-                    auto&& preset_option = get_option(RS2_OPTION_VISUAL_PRESET);
-                    if (preset_option.query() == RS2_L500_VISUAL_PRESET_CUSTOM)
-                    {
-                        if(sensor_mode_option.query() != get_resolution_from_width_height(vs->get_width(), vs->get_height()))
-                            throw  std::runtime_error(to_string() << "sensor mode ("<< rs2_sensor_mode((int)sensor_mode_option.query())<<") with RS2_L500_VISUAL_PRESET_CUSTOM is incompatible with the requested profile resolution ("
-                                << get_resolution_from_width_height(vs->get_width(), vs->get_height())<<")");
-                    }
-                }
                 if( vs->get_format() == RS2_FORMAT_Z16 )
                     sensor_mode_option.set(float(get_resolution_from_width_height(vs->get_width(), vs->get_height())));
             }

unit-tests/func/presets/custom/test-streaming.cpp

@@ -0,0 +1,36 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2020 Intel Corporation. All Rights Reserved.
+
+//#cmake: static!
+
+#include "../../func-common.h"
+#include "../presets-common.h"
+
+using namespace rs2;
+
+// This test checks that if we are on custom preset and start streaming,
+// with profile that has different resolution than the value of the 
+// sensor mode control LRS don't throw an exception and update the
+// sensor mode according the profile
+TEST_CASE( "sensor mode change while streaming on custom", "[l500][live]" )
+{
+    auto devices = find_devices_by_product_line_or_exit( RS2_PRODUCT_LINE_L500 );
+    auto dev = devices[0];
+
+    exit_if_fw_version_is_under( dev, MIN_GET_DEFAULT_FW_VERSION );
+
+    auto depth_sens = dev.first< rs2::depth_sensor >();
+
+    reset_camera_preset_mode_to_defaults( depth_sens );
+
+    REQUIRE_NOTHROW(
+        depth_sens.set_option(RS2_OPTION_VISUAL_PRESET,RS2_L500_VISUAL_PRESET_CUSTOM));
+
+    start_depth_ir_confidence(depth_sens, RS2_SENSOR_MODE_XGA);
+
+    auto curr_sensor_mode = RS2_SENSOR_MODE_VGA;
+    REQUIRE_NOTHROW(curr_sensor_mode = (rs2_sensor_mode)(int)depth_sens.get_option(RS2_OPTION_SENSOR_MODE));
+    REQUIRE(curr_sensor_mode == RS2_SENSOR_MODE_XGA);
+
+    stop_depth(depth_sens);
+}