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Plane: PREFLIGHT_SET_SENSOR_OFFSETS used to set compass offsets

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replaces ardupilot specific SET_MAG_OFFSETS message
This commit is contained in:
Randy Mackay 2014-07-09 17:16:24 +09:00
parent 208a2de777
commit b17125e261
1 changed files with 13 additions and 11 deletions
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24
ArduPlane/GCS_Mavlink.pde
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@ -1065,6 +1065,19 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
result = MAV_RESULT_ACCEPTED;
break;
case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
if (packet.param1 == 2) {
// save first compass's offsets
compass.set_and_save_offsets(0, packet.param2, packet.param3, packet.param4);
result = MAV_RESULT_ACCEPTED;
}
if (packet.param1 == 5) {
// save secondary compass's offsets
compass.set_and_save_offsets(1, packet.param2, packet.param3, packet.param4);
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_COMPONENT_ARM_DISARM:
if (packet.param1 == 1.0f) {
// run pre_arm_checks and arm_checks and display failures
@ -1288,17 +1301,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
#ifdef MAVLINK_MSG_ID_SET_MAG_OFFSETS
case MAVLINK_MSG_ID_SET_MAG_OFFSETS:
{
mavlink_set_mag_offsets_t packet;
mavlink_msg_set_mag_offsets_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
compass.set_offsets(Vector3f(packet.mag_ofs_x, packet.mag_ofs_y, packet.mag_ofs_z));
break;
}
#endif
// GCS has sent us a command from GCS, store to EEPROM
case MAVLINK_MSG_ID_MISSION_ITEM:
{