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AntennaTracker: support setting just accel trim with preflight-cal 

use param5==2
This commit is contained in:
Andrew Tridgell 2015-05-16 07:28:50 +10:00
parent fb435fc78e
commit 4a290cd2f1
1 changed files with 11 additions and 4 deletions
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15
AntennaTracker/GCS_Mavlink.pde
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@ -601,17 +601,24 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
}
if (is_equal(packet.param4,1.0f)) {
// Cant trim radio
}
#if !defined( __AVR_ATmega1280__ )
else if (is_equal(packet.param5,1.0f)) {
} else if (is_equal(packet.param5,1.0f)) {
float trim_roll, trim_pitch;
AP_InertialSensor_UserInteract_MAVLink interact(this);
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));
}
} else if (is_equal(packet.param5,2.0f)) {
// accel trim
float trim_roll, trim_pitch;
if(ins.calibrate_trim(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;
} else {
result = MAV_RESULT_FAILED;
}
}
#endif
result = MAV_RESULT_ACCEPTED;
break;
}