From 718a5b70e3d8bba78aa263324ea9fef5550c8f1f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 18 Feb 2012 10:39:57 +1100
Subject: [PATCH] AP_Param: fixed saving of sensor calibration

this fixes the saving of the accel and gyro calibration to EEPROM,
which was initially broken by the AP_Param conversion
---
 ArduCopter/Parameters.h   | 2 +-
 ArduCopter/Parameters.pde | 3 ++-
 ArduPlane/Parameters.h    | 2 +-
 ArduPlane/Parameters.pde  | 3 ++-
 4 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index a4e952f6f5..5023882a99 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -92,7 +92,7 @@ public:
 	//
 	// 140: Sensor parameters
 	//
-	k_param_IMU_calibration = 140,
+	k_param_imu = 140, // sensor calibration
     k_param_battery_monitoring,
     k_param_volt_div_ratio,
     k_param_curr_amp_per_volt,
diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index 27470800e9..f6520830b2 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -142,7 +142,8 @@ static const AP_Param::Info var_info[] PROGMEM = {
 	// variables not in the g class which contain EEPROM saved variables
 	GOBJECT(compass,        "COMPASS_", Compass),
 	GOBJECT(gcs0,			"SR0_",     GCS_MAVLINK),
-	GOBJECT(gcs3,			"SR3_",     GCS_MAVLINK)
+	GOBJECT(gcs3,			"SR3_",     GCS_MAVLINK),
+	GOBJECT(imu,			"IMU_",     IMU)
 };
 
 
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index e2d9043e09..f508e6c38d 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -68,7 +68,7 @@ public:
         //
         // 130: Sensor parameters
         //
-        k_param_IMU_calibration = 130,
+        k_param_imu = 130,  // sensor calibration
         k_param_altitude_mix,
         k_param_airspeed_ratio,
         k_param_ground_temperature,
diff --git a/ArduPlane/Parameters.pde b/ArduPlane/Parameters.pde
index 08248072d5..4b0bda9ae0 100644
--- a/ArduPlane/Parameters.pde
+++ b/ArduPlane/Parameters.pde
@@ -123,7 +123,8 @@ static const AP_Param::Info var_info[] PROGMEM = {
 	// variables not in the g class which contain EEPROM saved variables
 	GOBJECT(compass,                "COMPASS_",	Compass),
 	GOBJECT(gcs0,					"SR0_",     GCS_MAVLINK),
-	GOBJECT(gcs3,					"SR3_",     GCS_MAVLINK)
+	GOBJECT(gcs3,					"SR3_",     GCS_MAVLINK),
+	GOBJECT(imu,					"IMU_",     IMU)
 };