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zero airspeed on ground start when initiated by MAVLink 

If the users asks for a new calibration, that should include the
airspeed sensor
This commit is contained in:
Andrew Tridgell 2011-11-21 12:05:43 +11:00
parent 2137e91ede
commit 2cc0cd65b4
1 changed files with 9 additions and 14 deletions
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23
ArduPlane/system.pde
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@ -286,20 +286,6 @@ static void startup_ground(void)
// ---------------------------
trim_radio(); // This was commented out as a HACK. Why? I don't find a problem.
#if HIL_MODE != HIL_MODE_ATTITUDE
if (g.airspeed_enabled == true)
{
// initialize airspeed sensor
// --------------------------
zero_airspeed();
gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> zero airspeed calibrated"));
}
else
{
gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> NO airspeed"));
}
#endif
// Save the settings for in-air restart
// ------------------------------------
//save_EEPROM_groundstart();
@ -439,6 +425,15 @@ static void startup_IMU_ground(void)
//-----------------------------
init_barometer();
if (g.airspeed_enabled == true) {
// initialize airspeed sensor
// --------------------------
zero_airspeed();
gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> zero airspeed calibrated"));
} else {
gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> NO airspeed"));
}
#endif // HIL_MODE_ATTITUDE
digitalWrite(B_LED_PIN, HIGH); // Set LED B high to indicate IMU ready