Proper fix for calibration prior to arming
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@ -366,8 +366,11 @@ void releaseSharedTelemetryPorts(void) {
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void mwArm(void)
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{
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if (!ARMING_FLAG(WAS_EVER_ARMED) && masterConfig.gyro_cal_on_first_arm) {
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gyroSetCalibrationCycles(calculateCalibratingCycles());
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static bool armingCalibrationWasInitialisedOnce;
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if (masterConfig.gyro_cal_on_first_arm && !armingCalibrationWasInitialisedOnce) {
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gyroSetCalibrationCycles(calculateCalibratingCycles());
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armingCalibrationWasInitialisedOnce = true;
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}
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if (!isGyroCalibrationComplete()) return; // prevent arming before gyro is calibrated
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