From 13b8159fb52b8f298d2fd9eb74fe7e00a495b7f0 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 21 Nov 2014 16:54:50 +0900
Subject: [PATCH] Copter: only allow one preflight calibration at a time
---
ArduCopter/GCS_Mavlink.pde | 18 ++++++++----------
1 file changed, 8 insertions(+), 10 deletions(-)
diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index cd1d78b55..f50abd948 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -1123,26 +1123,24 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// reset ahrs gyro bias
ahrs.reset_gyro_drift();
result = MAV_RESULT_ACCEPTED;
- }
- if (packet.param3 == 1) {
- init_barometer(false); // fast barometer calibration
+ } else if (packet.param3 == 1) {
+ // fast barometer calibration
+ init_barometer(false);
result = MAV_RESULT_ACCEPTED;
- }
- if (packet.param4 == 1) {
+ } else if (packet.param4 == 1) {
trim_radio();
result = MAV_RESULT_ACCEPTED;
- }
- if (packet.param5 == 1) {
+ } else if (packet.param5 == 1) {
+ // 3d accel calibration
float trim_roll, trim_pitch;
// this blocks
AP_InertialSensor_UserInteract_MAVLink interact(chan);
if(ins.calibrate_accel(&interact, trim_roll, trim_pitch)) {
// reset ahrs's trim to suggested values from calibration routine
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
+ result = MAV_RESULT_ACCEPTED;
}
- result = MAV_RESULT_ACCEPTED;
- }
- if (packet.param6 == 1) {
+ } else if (packet.param6 == 1) {
// compassmot calibration
result = mavlink_compassmot(chan);
}
--
GitLab