From 78af6d61de456b138b183f9c82c0da50690823c3 Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Wed, 2 Sep 2015 11:20:15 -0700
Subject: [PATCH] AP_Compass: only play compass cal cancel tone if a cal was
 running

---
 libraries/AP_Compass/AP_Compass_Calibration.cpp | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Compass/AP_Compass_Calibration.cpp b/libraries/AP_Compass/AP_Compass_Calibration.cpp
index 26cff1eee6..c103a48233 100644
--- a/libraries/AP_Compass/AP_Compass_Calibration.cpp
+++ b/libraries/AP_Compass/AP_Compass_Calibration.cpp
@@ -94,9 +94,12 @@ Compass::start_calibration_all(bool retry, bool autosave, float delay, bool auto
 void
 Compass::cancel_calibration(uint8_t i)
 {
-    _calibrator[i].clear();
-    AP_Notify::events.compass_cal_canceled = 1;
     AP_Notify::events.initiated_compass_cal = 0;
+
+    if (_calibrator[i].running() || _calibrator[i].get_status() == COMPASS_CAL_WAITING_TO_START) {
+        AP_Notify::events.compass_cal_canceled = 1;
+    }
+    _calibrator[i].clear();
 }
 
 void