From 1a911553eb81404325235f4c7910e81b4eac84e4 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 13 Jul 2015 09:21:32 +0900
Subject: [PATCH] Copter: allow disabling ESC calibration

---
 ArduCopter/Parameters.cpp      |  2 +-
 ArduCopter/esc_calibration.cpp | 11 ++++++++---
 2 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 8287925950..e02d271b41 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -357,7 +357,7 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
     // @DisplayName: ESC Calibration
     // @Description: Controls whether ArduCopter will enter ESC calibration on the next restart.  Do not adjust this parameter manually.
     // @User: Advanced
-    // @Values: 0:Normal Start-up, 1:Start-up in ESC Calibration mode if throttle high, 2:Start-up in ESC Calibration mode regardless of throttle
+    // @Values: 0:Normal Start-up, 1:Start-up in ESC Calibration mode if throttle high, 2:Start-up in ESC Calibration mode regardless of throttle, 9:Disabled
     GSCALAR(esc_calibrate, "ESC",                   0),
 
     // @Param: TUNE
diff --git a/ArduCopter/esc_calibration.cpp b/ArduCopter/esc_calibration.cpp
index e9fa650465..f17063c84a 100644
--- a/ArduCopter/esc_calibration.cpp
+++ b/ArduCopter/esc_calibration.cpp
@@ -13,7 +13,8 @@ enum ESCCalibrationModes {
     ESCCAL_NONE = 0,
     ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH = 1,
     ESCCAL_PASSTHROUGH_ALWAYS = 2,
-    ESCCAL_AUTO = 3
+    ESCCAL_AUTO = 3,
+    ESCCAL_DISABLED = 9,
 };
 
 // check if we should enter esc calibration mode
@@ -23,7 +24,7 @@ void Copter::esc_calibration_startup_check()
     pre_arm_rc_checks();
     if (!ap.pre_arm_rc_check) {
         // clear esc flag for next time
-        if (g.esc_calibrate != ESCCAL_NONE) {
+        if ((g.esc_calibrate != ESCCAL_NONE) && (g.esc_calibrate != ESCCAL_DISABLED)) {
             g.esc_calibrate.set_and_save(ESCCAL_NONE);
         }
         return;
@@ -59,12 +60,16 @@ void Copter::esc_calibration_startup_check()
             // perform automatic ESC calibration
             esc_calibration_auto();
             break;
+        case ESCCAL_DISABLED:
         default:
             // do nothing
             break;
     }
+
     // clear esc flag for next time
-    g.esc_calibrate.set_and_save(ESCCAL_NONE);
+    if (g.esc_calibrate != ESCCAL_DISABLED) {
+        g.esc_calibrate.set_and_save(ESCCAL_NONE);
+    }
 }
 
 // esc_calibration_passthrough - pass through pilot throttle to escs