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Copter: reply with failed if gyro or accel cal fails

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Randy Mackay 2015-03-09 14:46:39 +09:00 committed by Andrew Tridgell
parent 10724f5738
commit 3e45052a75
1 changed files with 4 additions and 0 deletions
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4
ArduCopter/GCS_Mavlink.pde
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@ -1134,6 +1134,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if (ins.gyro_calibrated_ok_all()) {
ahrs.reset_gyro_drift();
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else if (packet.param3 == 1) {
// fast barometer calibration
@ -1150,6 +1152,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// reset ahrs's trim to suggested values from calibration routine
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else if (packet.param6 == 1) {
// compassmot calibration