From 105e2e19ac5b430a2ce0905b3f3ae416ad1ea03e Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 26 Dec 2014 21:52:04 +0900
Subject: [PATCH] Copter: skip pre-arm checks when already armed

---
 ArduCopter/motors.pde | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index 92d2d3402b..3f55f25be1 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -215,7 +215,13 @@ static bool init_arm_motors()
 // perform pre-arm checks and set ap.pre_arm_check flag
 static void pre_arm_checks(bool display_failure)
 {
+    // exit immediately if already armed
+    if (motors.armed()) {
+        return;
+    }
+
     // exit immediately if we've already successfully performed the pre-arm check
+    // run gps checks because results may change and affect LED colour
     if (ap.pre_arm_check) {
         pre_arm_gps_checks(display_failure);
         return;