From 1482614a7d39ab4ae8cc655128b066d0d677843c Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Mon, 28 Dec 2015 20:33:40 -0800
Subject: [PATCH] AP_Arming: add accel cal requires reboot

---
 libraries/AP_Arming/AP_Arming.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 4e8a97bd9d..cca897cdec 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -155,6 +155,14 @@ bool AP_Arming::ins_checks(bool report)
             }
             return false;
         }
+        
+        //check if accelerometers have calibrated and require reboot
+        if (ins.accel_cal_requires_reboot()) {
+            if (report) {
+                GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Accelerometers calibrated requires reboot");
+            }
+            return false;
+        }
 
         // check all accelerometers point in roughly same direction
         if (ins.get_accel_count() > 1) {