From 81c1fd5fc4f69eb021c758e0e73f7bb0dbb62baa Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 8 May 2013 16:25:35 +1000
Subject: [PATCH] Plane: support 3D accel calibration over MAVLink

---
 ArduPlane/GCS_Mavlink.pde | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 79ddd071f0..4640650aeb 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -1146,6 +1146,14 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             if (packet.param4 == 1) {
                 trim_radio();
             }
+            if (packet.param5 == 1) {
+                float trim_roll, trim_pitch;
+                AP_InertialSensor_UserInteract_MAVLink interact(chan);
+                if(ins.calibrate_accel(flash_leds, &interact, trim_roll, trim_pitch)) {
+                    // reset ahrs's trim to suggested values from calibration routine
+                    ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
+                }
+            }
             result = MAV_RESULT_ACCEPTED;
             break;