From eb594775b7c3a345ff46cbd9f7479206e49f0135 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 8 Oct 2014 20:17:55 +0900
Subject: [PATCH] Copter: pre-arm check that gyro cal succeeded

---
 ArduCopter/motors.pde | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index 342ae0362a..b984ba54e6 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -378,6 +378,14 @@ static void pre_arm_checks(bool display_failure)
             return;
         }
 
+        // check gyros calibrated successfully
+        if(!ins.gyro_calibrated_ok_all()) {
+            if (display_failure) {
+                gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Gyro cal failed"));
+            }
+            return;
+        }
+
 #if INS_MAX_INSTANCES > 1
         // check all gyros are consistent
         if (ins.get_gyro_count() > 1) {