From 2406e26ab4674debba4e4223cabb78935bb8b440 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Mon, 16 Mar 2015 14:30:16 -0700
Subject: [PATCH] Copter : Save EKF learned compass offsets on disarm

Requires compass learning to be enabled in the compass parameters

Copter: fix compass offsets patch
---
 ArduCopter/motors.pde | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index d47269250d..23f7fd8081 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -655,9 +655,10 @@ static void init_disarm_motors()
 
     motors.armed(false);
 
-    // save offsets if automatic offset learning is on
-    if (compass.learn_offsets_enabled()) {
-        compass.save_offsets();
+    // save compass offsets learned by the EKF
+    Vector3f magOffsets;
+    if (ahrs.getMagOffsets(magOffsets)) {
+        compass.set_and_save_offsets(0,magOffsets);
     }
 
 #if AUTOTUNE_ENABLED == ENABLED