From 94f301181ef2bc99ff318c60f4021f3bf96816a4 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 1 Nov 2013 23:54:32 +0900
Subject: [PATCH] Copter: recalc distance to home during arming

fixes an rare edge case in which the fence could trigger immediately
after arming
---
 ArduCopter/motors.pde | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index 1648a6d040..7d0a56e6e4 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -151,8 +151,10 @@ static void init_arm_motors()
 
     // Reset home position
     // -------------------
-    if(ap.home_is_set)
+    if (ap.home_is_set) {
         init_home();
+        calc_distance_and_bearing();
+    }
 
     // all I terms are invalid
     // -----------------------