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Copter: support setting just accel trim with preflight-cal 

use param5==2
This commit is contained in:
Andrew Tridgell 2015-05-16 07:28:55 +10:00
parent 4a290cd2f1
commit aac652a1b4
1 changed files with 10 additions and 0 deletions
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10
ArduCopter/GCS_Mavlink.pde
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@ -1188,6 +1188,16 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
} else {
result = MAV_RESULT_FAILED;
}
} 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;
}
} else if (is_equal(packet.param6,1.0f)) {
// compassmot calibration
result = mavlink_compassmot(chan);