From f81ec9b1b38ed013ad7ce33e800ee3cea6f3c320 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 17 Jun 2017 15:22:55 +1000
Subject: [PATCH] Plane: support simple accelcal

---
 ArduPlane/GCS_Mavlink.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 27ae89ee92..fdf6dc6786 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -1204,6 +1204,9 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
                 } else {
                     result = MAV_RESULT_FAILED;
                 }
+            } else if (is_equal(packet.param5,4.0f)) {
+                // simple accel calibration
+                result = plane.ins.simple_accel_cal(plane.ahrs);
             }
             else {
                     send_text(MAV_SEVERITY_WARNING, "Unsupported preflight calibration");