AP_Arming: always run compass calibration checks

libraries/AP_Arming/AP_Arming.cpp

@@ -332,11 +332,23 @@ bool AP_Arming::ins_checks(bool report)
 
 bool AP_Arming::compass_checks(bool report)
 {
+    Compass &_compass = AP::compass();
+
+    // check if compass is calibrating
+    if (_compass.is_calibrating()) {
+        check_failed(ARMING_CHECK_COMPASS, report, "Compass calibration running");
+        return false;
+    }
+
+    // check if compass has calibrated and requires reboot
+    if (_compass.compass_cal_requires_reboot()) {
+        check_failed(ARMING_CHECK_COMPASS, report, "Compass calibrated requires reboot");
+        return false;
+    }
+
     if ((checks_to_perform) & ARMING_CHECK_ALL ||
         (checks_to_perform) & ARMING_CHECK_COMPASS) {
 
-        Compass &_compass = AP::compass();
-
         // avoid Compass::use_for_yaw(void) as it implicitly calls healthy() which can
         // incorrectly skip the remaining checks, pass the primary instance directly
         if (!_compass.use_for_yaw(_compass.get_primary())) {
@@ -354,18 +366,6 @@ bool AP_Arming::compass_checks(bool report)
             return false;
         }
 
-        //check if compass is calibrating
-        if (_compass.is_calibrating()) {
-            check_failed(ARMING_CHECK_COMPASS, report, "Compass calibration running");
-            return false;
-        }
-
-        //check if compass has calibrated and requires reboot
-        if (_compass.compass_cal_requires_reboot()) {
-            check_failed(ARMING_CHECK_COMPASS, report, "Compass calibrated requires reboot");
-            return false;
-        }
-
         // check for unreasonable compass offsets
         const Vector3f offsets = _compass.get_offsets();
         if (offsets.length() > _compass.get_offsets_max()) {