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Copter: PREFLIGHT_SET_SENSOR_OFFSETS used to set compass offsets

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remove deprecated ardupilot specific SET_MAG_OFFSETS
This commit is contained in:
Randy Mackay 2014-07-09 17:14:31 +09:00
parent 2c085c300d
commit b565d43d5d
1 changed files with 13 additions and 14 deletions
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27
ArduCopter/GCS_Mavlink.pde
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@ -971,20 +971,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
#ifdef MAVLINK_MSG_ID_SET_MAG_OFFSETS
case MAVLINK_MSG_ID_SET_MAG_OFFSETS:
{
mavlink_set_mag_offsets_t packet;
mavlink_msg_set_mag_offsets_decode(msg, &packet);
// exit immediately if this command is not meant for this vehicle
if (mavlink_check_target(packet.target_system,packet.target_component)) {
break;
}
compass.set_offsets(Vector3f(packet.mag_ofs_x, packet.mag_ofs_y, packet.mag_ofs_z));
break;
}
#endif
// GCS has sent us a command from GCS, store to EEPROM
case MAVLINK_MSG_ID_MISSION_ITEM: // MAV ID: 39
{
@ -1176,6 +1162,19 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
}
break;
case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
if (packet.param1 == 2) {
// save first compass's offsets
compass.set_and_save_offsets(0, packet.param2, packet.param3, packet.param4);
result = MAV_RESULT_ACCEPTED;
}
if (packet.param1 == 5) {
// save secondary compass's offsets
compass.set_and_save_offsets(1, packet.param2, packet.param3, packet.param4);
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_COMPONENT_ARM_DISARM:
if (packet.param1 == 1.0f) {
// run pre_arm_checks and arm_checks and display failures