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GCS_MAVLink: tidy handling of barometer calibrations

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Peter Barker 2018-03-18 15:22:39 +11:00 committed by Francisco Ferreira
parent 65893cfca5
commit c6d7f5151a
2 changed files with 15 additions and 0 deletions
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1
libraries/GCS_MAVLink/GCS.h
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@ -303,6 +303,7 @@ protected:
virtual MAV_RESULT handle_command_preflight_calibration(const mavlink_command_long_t &packet); virtual MAV_RESULT handle_command_preflight_calibration(const mavlink_command_long_t &packet);
virtual MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet); virtual MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet);
virtual MAV_RESULT _handle_command_preflight_calibration_baro();
MAV_RESULT handle_command_mag_cal(const mavlink_command_long_t &packet); MAV_RESULT handle_command_mag_cal(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_long_message(mavlink_command_long_t &packet); MAV_RESULT handle_command_long_message(mavlink_command_long_t &packet);

14
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -2229,6 +2229,16 @@ bool GCS_MAVLINK::calibrate_gyros()
return true; return true;
} }
MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration_baro()
{
// fast barometer calibration
gcs().send_text(MAV_SEVERITY_INFO, "Updating barometer calibration");
AP::baro().update_calibration();
gcs().send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
return MAV_RESULT_ACCEPTED;
}
MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration(const mavlink_command_long_t &packet) MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
{ {
if (is_equal(packet.param1,1.0f)) { if (is_equal(packet.param1,1.0f)) {
@ -2238,6 +2248,10 @@ MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration(const mavlink_comm
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} }
if (is_equal(packet.param3,1.0f)) {
return _handle_command_preflight_calibration_baro();
}
if (is_equal(packet.param5,1.0f)) { if (is_equal(packet.param5,1.0f)) {
// start with gyro calibration // start with gyro calibration
if (!calibrate_gyros()) { if (!calibrate_gyros()) {