From e7579198c9319bb62360fa1c7f7cfec8405d2f7e Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 9 Feb 2015 20:27:12 +0900
Subject: [PATCH] Copter: when arming set home to current loc only if not
 locked

---
 ArduCopter/motors.pde | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index fc2dcdddec..030be6954d 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -140,12 +140,11 @@ static bool init_arm_motors(bool arming_from_gcs)
 
     initial_armed_bearing = ahrs.yaw_sensor;
 
-    // Reset home position
-    // -------------------
-    if (ap.home_is_set) {
-        init_home();
-        calc_distance_and_bearing();
+    // Reset home position if it has already been set before (but not locked)
+    if (ap.home_state == HOME_SET_NOT_LOCKED) {
+        set_home_to_current_location();
     }
+    calc_distance_and_bearing();
 
     if(did_ground_start == false) {
         startup_ground(true);