Copter: tidy handling of barometer calibrations

ArduCopter/Copter.h

@@ -899,7 +899,6 @@ private:
     int16_t get_throttle_mid(void);
 
     // sensors.cpp
-    void init_barometer(bool full_calibration);
     void read_barometer(void);
     void init_rangefinder(void);
     void read_rangefinder(void);

ArduCopter/GCS_Mavlink.cpp

@@ -720,12 +720,6 @@ void GCS_MAVLINK_Copter::handle_command_ack(const mavlink_message_t* msg)
 
 MAV_RESULT GCS_MAVLINK_Copter::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
 {
-    if (is_equal(packet.param3,1.0f)) {
-        // fast barometer calibration
-        copter.init_barometer(false);
-        return MAV_RESULT_ACCEPTED;
-    }
-
     if (is_equal(packet.param6,1.0f)) {
         // compassmot calibration
         return copter.mavlink_compassmot(chan);

ArduCopter/sensors.cpp

@@ -1,16 +1,5 @@
 #include "Copter.h"
 
-void Copter::init_barometer(bool full_calibration)
-{
-    gcs().send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
-    if (full_calibration) {
-        barometer.calibrate();
-    }else{
-        barometer.update_calibration();
-    }
-    gcs().send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
-}
-
 // return barometric altitude in centimeters
 void Copter::read_barometer(void)
 {

ArduCopter/system.cpp

@@ -209,7 +209,7 @@ void Copter::init_ardupilot()
 
     // read Baro pressure at ground
     //-----------------------------
-    init_barometer(true);
+    barometer.calibrate();
 
     // initialise rangefinder
     init_rangefinder();