From f3e6e4bb50d9d5e63ee423a25713d9033adcebf4 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Mon, 6 May 2013 22:59:45 +0400
Subject: [PATCH] Update servo arm only on real change.

---
 apps/drivers/px4fmu/fmu.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/apps/drivers/px4fmu/fmu.cpp b/apps/drivers/px4fmu/fmu.cpp
index e547245367..761a23c426 100644
--- a/apps/drivers/px4fmu/fmu.cpp
+++ b/apps/drivers/px4fmu/fmu.cpp
@@ -505,7 +505,11 @@ PX4FMU::task_main()
 			orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
 
 			/* update PWM servo armed status if armed and not locked down */
-			up_pwm_servo_arm(aa.armed && !aa.lockdown);
+			bool set_armed = aa.armed && !aa.lockdown;
+			if (set_armed != _armed) {
+				_armed = set_armed;
+				up_pwm_servo_arm(set_armed);
+			}
 		}
 
 		// see if we have new PPM input data