From 1d2d8c903aee7a5e9a29a023d87dffcd60d35b93 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 21 Nov 2014 14:47:09 +1100
Subject: [PATCH] Rover: make preflight calibration follow plane conventions
---
APMrover2/GCS_Mavlink.pde | 14 ++++++++------
1 file changed, 8 insertions(+), 6 deletions(-)
diff --git a/APMrover2/GCS_Mavlink.pde b/APMrover2/GCS_Mavlink.pde
index 521038161..bc2e9e90e 100644
--- a/APMrover2/GCS_Mavlink.pde
+++ b/APMrover2/GCS_Mavlink.pde
@@ -829,15 +829,17 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
case MAV_CMD_PREFLIGHT_CALIBRATION:
- if (packet.param1 == 1 ||
- packet.param2 == 1 ||
- packet.param3 == 1) {
+ if ((packet.param1 == 1 ||
+ packet.param2 == 1) &&
+ packet.param3 == 0) {
startup_INS_ground(true);
- }
- if (packet.param4 == 1) {
+ result = MAV_RESULT_ACCEPTED;
+ } else if (packet.param4 == 1) {
trim_radio();
+ result = MAV_RESULT_ACCEPTED;
+ } else {
+ send_text_P(SEVERITY_LOW, PSTR("Unsupported preflight calibration"));
}
- result = MAV_RESULT_ACCEPTED;
break;
case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
--
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