From 68526262b773a45e740cf9ca214cdb7f294013b0 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 11 Jan 2021 07:26:49 +1100
Subject: [PATCH] AP_Arming: don't allow arming during IMU temp cal

---
 libraries/AP_Arming/AP_Arming.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 54625891eb..5c553dc777 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -363,6 +363,12 @@ bool AP_Arming::ins_checks(bool report)
             return false;
         }
 
+        // no arming while doing temp cal
+        if (ins.temperature_cal_running()) {
+            check_failed(ARMING_CHECK_INS, report, "temperature cal running");
+            return false;
+        }
+        
         // check AHRS attitudes are consistent
         char failure_msg[50] = {};
         if (!AP::ahrs().attitudes_consistent(failure_msg, ARRAY_SIZE(failure_msg))) {