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Copter: support pre-flight calibration of gyro

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This commit is contained in:
Randy Mackay 2014-10-08 20:19:18 +09:00
parent 661755e05a
commit 7f8a68d44a
1 changed files with 3 additions and 4 deletions
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7
ArduCopter/GCS_Mavlink.pde
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@ -1104,10 +1104,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
case MAV_CMD_PREFLIGHT_CALIBRATION: case MAV_CMD_PREFLIGHT_CALIBRATION:
if (packet.param1 == 1 || if (packet.param1 == 1) {
packet.param2 == 1) { // gyro offset calibration
ins.init_accel(); ins.init_gyro();
ahrs.set_trim(Vector3f(0,0,0)); // clear out saved trim
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
} }
if (packet.param3 == 1) { if (packet.param3 == 1) {