From 113475b15862d9460269a51c273ccdc418bf9bf5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 5 Jan 2015 08:41:54 +1100
Subject: [PATCH] autotest: use small INS offsets so INS is recognised as being
 calibrated

---
 Tools/autotest/ArduPlane.parm             | 7 +++++++
 Tools/autotest/Rover.parm                 | 7 +++++++
 Tools/autotest/copter_AVC2013_params.parm | 7 +++++++
 Tools/autotest/copter_params.parm         | 7 +++++++
 4 files changed, 28 insertions(+)

diff --git a/Tools/autotest/ArduPlane.parm b/Tools/autotest/ArduPlane.parm
index 9c5575e7f..bfa88d15d 100644
--- a/Tools/autotest/ArduPlane.parm
+++ b/Tools/autotest/ArduPlane.parm
@@ -65,3 +65,10 @@ ACRO_LOCKING     1
 ELEVON_OUTPUT    0
 VTAIL_OUTPUT     0
 SKIP_GYRO_CAL    1
+# we need small INS_ACC offsets so INS is recognised as being calibrated
+INS_ACCOFFS_X   0.001
+INS_ACCOFFS_Y   0.001
+INS_ACCOFFS_Z   0.001
+INS_ACCSCAL_X   1.001
+INS_ACCSCAL_Y   1.001
+INS_ACCSCAL_Z   1.001
diff --git a/Tools/autotest/Rover.parm b/Tools/autotest/Rover.parm
index 9e0628b13..cd86b5eff 100644
--- a/Tools/autotest/Rover.parm
+++ b/Tools/autotest/Rover.parm
@@ -18,3 +18,10 @@ MODE6        0
 STEER2SRV_P     1.8
 SIM_GPS_DELAY 2
 NAVL1_PERIOD 6
+# we need small INS_ACC offsets so INS is recognised as being calibrated
+INS_ACCOFFS_X   0.001
+INS_ACCOFFS_Y   0.001
+INS_ACCOFFS_Z   0.001
+INS_ACCSCAL_X   1.001
+INS_ACCSCAL_Y   1.001
+INS_ACCSCAL_Z   1.001
diff --git a/Tools/autotest/copter_AVC2013_params.parm b/Tools/autotest/copter_AVC2013_params.parm
index 32a9ee62d..3c4c7c0f7 100644
--- a/Tools/autotest/copter_AVC2013_params.parm
+++ b/Tools/autotest/copter_AVC2013_params.parm
@@ -48,6 +48,13 @@ SIM_WIND_SPD    0
 SIM_WIND_TURB   0
 SIM_BARO_RND    0
 SIM_MAG_RND     0
+# we need small INS_ACC offsets so INS is recognised as being calibrated
+INS_ACCOFFS_X   0.001
+INS_ACCOFFS_Y   0.001
+INS_ACCOFFS_Z   0.001
+INS_ACCSCAL_X   1.001
+INS_ACCSCAL_Y   1.001
+INS_ACCSCAL_Z   1.001
 # flightmodes
 # switch 1 Circle
 # switch 2 LAND
diff --git a/Tools/autotest/copter_params.parm b/Tools/autotest/copter_params.parm
index 5b062baeb..710b72a4c 100644
--- a/Tools/autotest/copter_params.parm
+++ b/Tools/autotest/copter_params.parm
@@ -46,6 +46,13 @@ SIM_WIND_SPD    0
 SIM_WIND_TURB   0
 SIM_BARO_RND    0
 SIM_MAG_RND     0
+# we need small INS_ACC offsets so INS is recognised as being calibrated
+INS_ACCOFFS_X   0.001
+INS_ACCOFFS_Y   0.001
+INS_ACCOFFS_Z   0.001
+INS_ACCSCAL_X   1.001
+INS_ACCSCAL_Y   1.001
+INS_ACCSCAL_Z   1.001
 # flightmodes
 # switch 1 Circle
 # switch 2 LAND
-- 
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