From 10724f57388ad93ea2e0ba2ee25060555ba3d184 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 9 Mar 2015 14:28:29 +0900
Subject: [PATCH] Copter: reject preflight calibration when armed

---
 ArduCopter/GCS_Mavlink.pde | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index af7b94091f..4047eef5cd 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -1122,6 +1122,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             break;
 
         case MAV_CMD_PREFLIGHT_CALIBRATION:
+            // exit immediately if armed
+            if (motors.armed()) {
+                result = MAV_RESULT_FAILED;
+                break;
+            }
             if (packet.param1 == 1) {
                 // gyro offset calibration
                 ins.init_gyro();