From d5a77fb5258295c3319954340ff53cc7e2765dbe Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Sat, 15 Jun 2013 17:28:30 +0200
Subject: [PATCH] OP-1009 prevent gyro zeroing from raise an alarm when arming

---
 flight/modules/Attitude/revolution/attitude.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/flight/modules/Attitude/revolution/attitude.c b/flight/modules/Attitude/revolution/attitude.c
index ac4317466..f608ce442 100644
--- a/flight/modules/Attitude/revolution/attitude.c
+++ b/flight/modules/Attitude/revolution/attitude.c
@@ -638,7 +638,7 @@ static int32_t updateAttitudeComplementary(bool first_run)
         }
     }
 
-    if (!init) {
+    if (!init && flightStatus.Armed == FLIGHTSTATUS_ARMED_DISARMED) {
         AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
     } else if (variance_error) {
         AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_CRITICAL);