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Plane: use new interactive accelcal

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This commit is contained in:
Andrew Tridgell 2015-03-07 21:31:52 +11:00
parent 434d094993
commit 8ef8a964f1
1 changed files with 7 additions and 3 deletions
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10
ArduPlane/GCS_Mavlink.pde
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@ -973,7 +973,6 @@ void GCS_MAVLINK::handle_change_alt_request(AP_Mission::Mission_Command &cmd)
reset_offset_altitude(); reset_offset_altitude();
} }
void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
{ {
switch (msg->msgid) { switch (msg->msgid) {
@ -1040,15 +1039,18 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
zero_airspeed(false); zero_airspeed(false);
} }
in_calibration = false; in_calibration = false;
result = MAV_RESULT_ACCEPTED;
} else if (packet.param1 == 1 || } else if (packet.param1 == 1 ||
packet.param2 == 1) { packet.param2 == 1) {
startup_INS_ground(true); startup_INS_ground(true);
result = MAV_RESULT_ACCEPTED;
} else if (packet.param4 == 1) { } else if (packet.param4 == 1) {
trim_radio(); trim_radio();
result = MAV_RESULT_ACCEPTED;
} }
else if (packet.param5 == 1) { else if (packet.param5 == 1) {
float trim_roll, trim_pitch; float trim_roll, trim_pitch;
AP_InertialSensor_UserInteract_MAVLink interact(chan); AP_InertialSensor_UserInteract_MAVLink interact(this);
if (g.skip_gyro_cal) { if (g.skip_gyro_cal) {
// start with gyro calibration, otherwise if the user // start with gyro calibration, otherwise if the user
// has SKIP_GYRO_CAL=1 they don't get to do it // has SKIP_GYRO_CAL=1 they don't get to do it
@ -1057,12 +1059,14 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if(ins.calibrate_accel(&interact, trim_roll, trim_pitch)) { if(ins.calibrate_accel(&interact, trim_roll, trim_pitch)) {
// reset ahrs's trim to suggested values from calibration routine // reset ahrs's trim to suggested values from calibration routine
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0)); ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
} }
} }
else { else {
send_text_P(SEVERITY_LOW, PSTR("Unsupported preflight calibration")); send_text_P(SEVERITY_LOW, PSTR("Unsupported preflight calibration"));
} }
result = MAV_RESULT_ACCEPTED;
break; break;
case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS: case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS: