From 4deb136bb0e08abc8023bf4937f534b850a43de7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 11 Mar 2015 10:16:20 +1100
Subject: [PATCH] AP_Arming: require 3D accel cal always

---
 libraries/AP_Arming/AP_Arming.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 67dd14bc59..c76fe0d706 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -153,9 +153,9 @@ bool AP_Arming::ins_checks(bool report)
             }
             return false;
         }
-        if (ahrs.have_inertial_nav() && !ins.calibrated()) {
+        if (!ins.calibrated()) {
             if (report) {
-                gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: EKF requires 3D accel cal"));
+                gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: 3D accel cal needed"));
             }
             return false;
         }