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#endif
#if defined(LED_FLASHER)
init_led_flasher();
led_flasher_set_sequence(LED_FLASHER_SEQUENCE);
#endif
f.SMALL_ANGLES_25=1; // important for gyro only conf
#ifdef LOG_PERMANENT
// read last stored set
readPLog();
plog.lifetime += plog.armed_time / 1000000;
plog.start++; // #powercycle/reset/initialize events
// dump plog data to terminal
#ifdef LOG_PERMANENT_SHOW_AT_STARTUP
dumpPLog(0);
#endif
plog.armed_time = 0; // lifetime in seconds
//plog.running = 0; // toggle on arm & disarm to monitor for clean shutdown vs. powe
rcut
#endif
#ifdef DEBUGMSG
debugmsg_append_str("initialization completed\n");
#endif
}

void go_arm() {
if(calibratingG == 0
#if defined(ONLYARMWHENFLAT)
&& f.ACC_CALIBRATED
#endif
#if defined(FAILSAFE)
&& failsafeCnt < 2
#endif
#if GPS && defined(ONLY_ALLOW_ARM_WITH_GPS_3DFIX)
&& (f.GPS_FIX && GPS_numSat >= 5)
#endif
) {
if(!f.ARMED && !f.BARO_MODE) { // arm now!
f.ARMED = 1;
#if defined(HEADFREE)
headFreeModeHold = att.heading;
#endif
magHold = att.heading;
#if defined(VBAT)
if (analog.vbat > NO_VBAT) vbatMin = analog.vbat;
#endif

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