From 76369d153f0ce741369a9678d40aee15ee38764f Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 9 Jul 2014 17:28:53 +0900
Subject: [PATCH] Arming: use compass.configured method

This checks that when compass offset learning is off, that the offsets
are non-zero and that the detected device id matches the device id
stored to eeprom when the offsets were last saved.
---
 libraries/AP_Arming/AP_Arming.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index aaca72d823..23fecdd9c6 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -113,8 +113,7 @@ bool AP_Arming::compass_checks(bool report)
             return false;
         }
         // check compass learning is on or offsets have been set
-        Vector3f offsets = compass->get_offsets();
-        if(!compass->_learn && offsets.length() == 0) {
+        if (!compass.learn_offsets_enabled() && !compass.configured()) {
             if (report) {
                 gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not calibrated"));
             }