Copter: enable temperature calibration library

ArduCopter/ArduCopter.cpp

@@ -133,6 +133,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(rpm_update,            10,    200),
     SCHED_TASK(compass_cal_update,   100,    100),
     SCHED_TASK(accel_cal_update,      10,    100),
+    SCHED_TASK(temp_cal_update,       10,    100),
 #if ADSB_ENABLED == ENABLED
     SCHED_TASK(avoidance_adsb_update, 10,    100),
 #endif

ArduCopter/Copter.h

@@ -97,6 +97,7 @@
 #include <AP_SmartRTL/AP_SmartRTL.h>
 #include <AP_WheelEncoder/AP_WheelEncoder.h>
 #include <AP_Winch/AP_Winch.h>
+#include <AP_TempCalibration/AP_TempCalibration.h>
 
 // Configuration
 #include "defines.h"
@@ -973,6 +974,8 @@ private:
     Mode *mode_from_mode_num(const uint8_t mode);
     void exit_mode(Mode *&old_flightmode, Mode *&new_flightmode);
 
+    void temp_cal_update(void);
+
 public:
     void mavlink_delay_cb();    // GCS_Mavlink.cpp
     void failsafe_check();      // failsafe.cpp

ArduCopter/Parameters.cpp

@@ -930,7 +930,10 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPINFO(visual_odom, "VISO", 18, ParametersG2, AP_VisualOdom),
 #endif
 
-    // ID 19 reserved for TCAL (PR pending)
+    // @Group: TCAL
+    // @Path: ../libraries/AP_TempCalibration/AP_TempCalibration.cpp
+    AP_SUBGROUPINFO(temp_calibration, "TCAL", 19, ParametersG2, AP_TempCalibration),
+
     // ID 20 reserved for TX_TYPE (PR pending)
 
     // @Group: SRTL_
@@ -979,6 +982,7 @@ ParametersG2::ParametersG2(void)
     ,afs(copter.mission, copter.barometer, copter.gps, copter.rcmap)
 #endif
     ,smart_rtl(copter.ahrs)
+    ,temp_calibration(copter.barometer, copter.ins)
 {
     AP_Param::setup_object_defaults(this, var_info);
 }

ArduCopter/Parameters.h

@@ -561,6 +561,9 @@ public:
 
     // Land alt final stage
     AP_Int16 land_alt_low;
+
+    // temperature calibration handling
+    AP_TempCalibration temp_calibration;
 };
 
 extern const AP_Param::Info        var_info[];

ArduCopter/sensors.cpp

@@ -552,3 +552,8 @@ void Copter::winch_update()
     g2.wheel_encoder.update();
     g2.winch.update();
 }
+
+void Copter::temp_cal_update(void)
+{
+    g2.temp_calibration.update();
+}