From 2c085c300d5411bc42d3fb798a279f29e4d44c91 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 9 Jul 2014 17:13:30 +0900
Subject: [PATCH] Copter: only save compass offsets when learning is on

---
 ArduCopter/motors.pde | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index eeb392c2ae..b83705dfb2 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -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();