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Proper fix for calibration prior to arming

This commit is contained in:
borisbstyle 2016-03-31 12:47:26 +02:00
parent f2cb5369c8
commit 5272426a00
1 changed files with 5 additions and 2 deletions
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7
src/main/mw.c
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@ -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