From 5272426a00a4b56301a6332928823184b00f0f36 Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Thu, 31 Mar 2016 12:47:26 +0200
Subject: [PATCH] Proper fix for calibration prior to arming

---
 src/main/mw.c | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/main/mw.c b/src/main/mw.c
index 79810bbd4..f795c7b02 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -366,8 +366,11 @@ void releaseSharedTelemetryPorts(void) {
 
 void mwArm(void)
 {
-    if (!ARMING_FLAG(WAS_EVER_ARMED) && masterConfig.gyro_cal_on_first_arm) {
-	    gyroSetCalibrationCycles(calculateCalibratingCycles());
+    static bool armingCalibrationWasInitialisedOnce;
+
+    if (masterConfig.gyro_cal_on_first_arm && !armingCalibrationWasInitialisedOnce) {
+        gyroSetCalibrationCycles(calculateCalibratingCycles());
+        armingCalibrationWasInitialisedOnce = true;
     }
 
     if (!isGyroCalibrationComplete()) return;  // prevent arming before gyro is calibrated