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Copter: only save compass offsets when learning is on

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This commit is contained in:
Randy Mackay 2014-07-09 17:13:30 +09:00
parent cf7e1a6339
commit 2c085c300d
1 changed files with 5 additions and 2 deletions
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7
ArduCopter/motors.pde
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@ -261,7 +261,7 @@ static void pre_arm_checks(bool display_failure)
}
// check compass learning is on or offsets have been set
if(!compass._learn && !compass.configured()) {
if(!compass.learn_offsets_enabled() && !compass.configured()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not calibrated"));
}
@ -527,7 +527,10 @@ static void init_disarm_motors()
// disable inertial nav errors temporarily
inertial_nav.ignore_next_error();
compass.save_offsets();
// save offsets if automatic offset learning is on
if (compass.learn_offsets_enabled()) {
compass.save_offsets();
}
g.throttle_cruise.save();