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Plane: if SKIP_GYRO_CAL is set the do a gyro cal on 3D accel cal 

otherwise the user has no opportunity to do a gyro calibration
This commit is contained in:
Andrew Tridgell 2014-11-21 19:08:58 +11:00
parent 826ae8ee8b
commit b4e01b7936
1 changed files with 5 additions and 0 deletions
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ArduPlane/GCS_Mavlink.pde
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@ -1025,6 +1025,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
else if (packet.param5 == 1) {
float trim_roll, trim_pitch;
AP_InertialSensor_UserInteract_MAVLink interact(chan);
if (g.skip_gyro_cal) {
// start with gyro calibration, otherwise if the user
// has SKIP_GYRO_CAL=1 they don't get to do it
ins.init_gyro();
}
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));