From 6cfd48d0c629a13977527c04aeaaf2e760939672 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 3 Feb 2015 05:58:20 +0900
Subject: [PATCH] Buzzer: handle arming_failed as event

---
 libraries/AP_Notify/Buzzer.cpp | 16 ++++++----------
 libraries/AP_Notify/Buzzer.h   |  1 -
 2 files changed, 6 insertions(+), 11 deletions(-)

diff --git a/libraries/AP_Notify/Buzzer.cpp b/libraries/AP_Notify/Buzzer.cpp
index 5db1b2f4a1..1f07757337 100644
--- a/libraries/AP_Notify/Buzzer.cpp
+++ b/libraries/AP_Notify/Buzzer.cpp
@@ -49,6 +49,12 @@ void Buzzer::update()
         return;
     }
 
+    // check for arming failed event
+    if (AP_Notify::events.arming_failed) {
+        // arming failed buzz
+        play_pattern(SINGLE_BUZZ);
+    }
+
     // reduce 50hz call down to 10hz
     _counter++;
     if (_counter < 5) {
@@ -192,16 +198,6 @@ void Buzzer::update()
         return;
     }
 
-    // check arming failed
-    if (_flags.arming_failed != AP_Notify::flags.arming_failed) {
-        _flags.arming_failed = AP_Notify::flags.arming_failed;
-        if (_flags.arming_failed) {
-            // arming failed buzz
-            play_pattern(SINGLE_BUZZ);
-        }
-        return;
-    }
-
     // check gps glitch
     if (_flags.gps_glitching != AP_Notify::flags.gps_glitching) {
         _flags.gps_glitching = AP_Notify::flags.gps_glitching;
diff --git a/libraries/AP_Notify/Buzzer.h b/libraries/AP_Notify/Buzzer.h
index e46f1f7f68..84d94aecc0 100644
--- a/libraries/AP_Notify/Buzzer.h
+++ b/libraries/AP_Notify/Buzzer.h
@@ -76,7 +76,6 @@ private:
         uint8_t failsafe_battery    : 1;    // 1 if battery failsafe has triggered
         uint8_t failsafe_gps        : 1;    // 1 if gps failsafe
         uint8_t baro_glitching     : 1;    // 1 if baro alt is glitching
-        uint8_t arming_failed      : 1;    // 0 = failing checks, 1 = passed
         uint8_t ekf_bad            : 1;    // 1 if ekf position has gone bad
     } _flags;