Copter: do no compass stick gesture detection while armed

6 years ago · 7207035c34
1 changed files with 5 additions and 3 deletions
--- a/ArduCopter/sensors.cpp
+++ b/ArduCopter/sensors.cpp
@ -107,12 +107,14 @@ void Copter::init_optflow()
				@@ -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()) {
-        compass.compass_cal_update();
+    if (hal.util->get_soft_armed()) {
+        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();