From 33851030a41b717f8de9426882a6931a94ce93cb Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 19 Feb 2014 10:53:26 +1100
Subject: [PATCH] Plane: use ahrs.get_armed()

---
 ArduPlane/ArduPlane.pde   | 13 ++++---------
 ArduPlane/GCS_Mavlink.pde |  2 +-
 ArduPlane/system.pde      | 10 +---------
 3 files changed, 6 insertions(+), 19 deletions(-)

diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index 28621dbbd2..8c51b272f6 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -801,6 +801,9 @@ void loop()
 // update AHRS system
 static void ahrs_update()
 {
+    ahrs.set_armed(arming.is_armed() && 
+                   hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
+
 #if HIL_MODE != HIL_MODE_DISABLED
     // update hil before AHRS update
     gcs_update();
@@ -1081,16 +1084,8 @@ static void update_GPS_10Hz(void)
         }
 #endif        
 
-        if (!arming.is_armed() ||
-            hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
-            if (g_gps->status() >= GPS::GPS_OK_FIX_3D) {
-                ahrs.set_correct_centrifugal(true);
-            } else {
-                ahrs.set_correct_centrifugal(false);
-            }
+        if (!ahrs.get_armed()) {
             update_home();
-        } else {
-            ahrs.set_correct_centrifugal(true);
         }
 
         // update wind estimate
diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 3bb22b3b1e..3a367eccaf 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -91,7 +91,7 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
 #endif
 
     // we are armed if we are not initialising
-    if (control_mode != INITIALISING && arming.is_armed()) {
+    if (control_mode != INITIALISING && ahrs.get_armed()) {
         base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
     }
 
diff --git a/ArduPlane/system.pde b/ArduPlane/system.pde
index ca8db8726a..c8e38e6a0d 100644
--- a/ArduPlane/system.pde
+++ b/ArduPlane/system.pde
@@ -610,15 +610,7 @@ static bool should_log(uint32_t mask)
     if (!(mask & g.log_bitmask) || in_mavlink_delay) {
         return false;
     }
-    bool armed;
-    if (arming.arming_required() == AP_Arming::NO) {
-        // for logging purposes consider us armed if we either don't
-        // have a safety switch, or we have one and it is disarmed
-        armed = (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
-    } else {
-        armed = arming.is_armed();
-    }
-    bool ret = armed || (g.log_bitmask & MASK_LOG_WHEN_DISARMED) != 0;
+    bool ret = ahrs.get_armed() || (g.log_bitmask & MASK_LOG_WHEN_DISARMED) != 0;
     if (ret && !DataFlash.logging_started() && !in_log_download) {
         // we have to set in_mavlink_delay to prevent logging while
         // writing headers