Plane: don't stall EKF during baro cal

ArduPlane/GCS_Mavlink.cpp

@@ -1347,7 +1347,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                     result = MAV_RESULT_FAILED;
                 }
             } else if (is_equal(packet.param3,1.0f)) {
-                plane.init_barometer();
+                plane.init_barometer(false);
                 if (plane.airspeed.enabled()) {
                     plane.zero_airspeed(false);
                 }

ArduPlane/Plane.h

@@ -922,7 +922,7 @@ private:
     void trim_control_surfaces();
     void trim_radio();
     bool rc_failsafe_active(void);
-    void init_barometer(void);
+    void init_barometer(bool full_calibration);
     void init_rangefinder(void);
     void read_rangefinder(void);
     void read_airspeed(void);

ArduPlane/sensors.cpp

@@ -3,11 +3,14 @@
 #include "Plane.h"
 #include <AP_RSSI/AP_RSSI.h>
 
-void Plane::init_barometer(void)
+void Plane::init_barometer(bool full_calibration)
 {
     gcs_send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
-    barometer.calibrate();
-
+    if (full_calibration) {
+        barometer.calibrate();
+    } else {
+        barometer.update_calibration();
+    }
     gcs_send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
 }
 

ArduPlane/system.cpp

@@ -617,7 +617,7 @@ void Plane::startup_INS_ground(void)
 
     // read Baro pressure at ground
     //-----------------------------
-    init_barometer();
+    init_barometer(true);
 
     if (airspeed.enabled()) {
         // initialize airspeed sensor

ArduPlane/test.cpp

@@ -497,7 +497,7 @@ int8_t Plane::test_pressure(uint8_t argc, const Menu::arg *argv)
     cliSerial->printf("Uncalibrated relative airpressure\n");
     print_hit_enter();
 
-    init_barometer();
+    init_barometer(true);
 
     while(1) {
         hal.scheduler->delay(100);