Copter: do no compass stick gesture detection while armed

ArduCopter/sensors.cpp

@@ -107,12 +107,14 @@ void Copter::init_optflow()
 
 void Copter::compass_cal_update()
 {
-    static uint32_t compass_cal_stick_gesture_begin = 0;
+    compass.cal_update();
 
-    if (!hal.util->get_soft_armed()) {
+    if (hal.util->get_soft_armed()) {
-        compass.compass_cal_update();
+        return;
     }
 
+    static uint32_t compass_cal_stick_gesture_begin = 0;
+
     if (compass.is_calibrating()) {
         if (channel_yaw->get_control_in() < -4000 && channel_throttle->get_control_in() > 900) {
             compass.cancel_calibration_all();