aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Plane: changed preflight calibration to prevent accel cal from MP

Browse Source 
MissionPlanner sends param1=1 and param3=1 for preflight
calibration. This was having the effect of redoing the accel
calibration as 1D cal on every flight!
This commit is contained in:
Andrew Tridgell 2014-11-21 14:46:42 +11:00
parent 4f44a63bef
commit c33f54378f
1 changed files with 10 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
ArduPlane/GCS_Mavlink.pde
View File

@ -1008,22 +1008,21 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
case MAV_CMD_PREFLIGHT_CALIBRATION: case MAV_CMD_PREFLIGHT_CALIBRATION:
if (packet.param1 == 1 || if (packet.param3 == 1) {
packet.param2 == 1) {
startup_INS_ground(true);
} else if (packet.param3 == 1) {
in_calibration = true; in_calibration = true;
init_barometer(); init_barometer();
if (airspeed.enabled()) { if (airspeed.enabled()) {
zero_airspeed(false); zero_airspeed(false);
} }
in_calibration = false; in_calibration = false;
} } else if (packet.param1 == 1 ||
if (packet.param4 == 1) { packet.param2 == 1) {
startup_INS_ground(true);
} else if (packet.param4 == 1) {
trim_radio(); trim_radio();
} }
#if !defined( __AVR_ATmega1280__ ) #if !defined( __AVR_ATmega1280__ )
if (packet.param5 == 1) { else if (packet.param5 == 1) {
float trim_roll, trim_pitch; float trim_roll, trim_pitch;
AP_InertialSensor_UserInteract_MAVLink interact(chan); AP_InertialSensor_UserInteract_MAVLink interact(chan);
if(ins.calibrate_accel(&interact, trim_roll, trim_pitch)) { if(ins.calibrate_accel(&interact, trim_roll, trim_pitch)) {
@ -1032,6 +1031,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
} }
} }
#endif #endif
else {
send_text_P(SEVERITY_LOW, PSTR("Unsupported preflight calibration"));
}
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
break; break;