From 5cd0ca851a94d6ef51d0ff2e958587d73baf400e Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Mon, 28 Dec 2015 20:36:11 -0800
Subject: [PATCH] Copter: check if accel cal requires reboot

---
 ArduCopter/arming_checks.cpp | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/ArduCopter/arming_checks.cpp b/ArduCopter/arming_checks.cpp
index 7a34360a9f..f1462b98c0 100644
--- a/ArduCopter/arming_checks.cpp
+++ b/ArduCopter/arming_checks.cpp
@@ -184,6 +184,14 @@ bool Copter::pre_arm_checks(bool display_failure)
             return false;
         }
 
+        //check if accelerometers have calibrated and require reboot
+        if (ins.accel_cal_requires_reboot()) {
+            if (display_failure) {
+                gcs_send_text(MAV_SEVERITY_CRITICAL, "PreArm: Accelerometers calibrated requires reboot");
+            }
+            return false;
+        }
+
         // check all accelerometers point in roughly same direction
         if (ins.get_accel_count() > 1) {
             const Vector3f &prime_accel_vec = ins.get_accel();
@@ -482,6 +490,14 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
 
     // check accels and gyro are healthy
     if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
+        //check if accelerometers have calibrated and require reboot
+        if (ins.accel_cal_requires_reboot()) {
+            if (display_failure) {
+                gcs_send_text(MAV_SEVERITY_CRITICAL, "PreArm: Accelerometers calibrated requires reboot");
+            }
+            return false;
+        }
+
         if (!ins.get_accel_health_all()) {
             if (display_failure) {
                 gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Accelerometers not healthy");