Sub: support simple accelcal

2017-06-17 15:22:55 +10:00 · 2017-06-17 15:22:55 +10:00 · cf7b874b42
commit cf7b874b42
parent f81ec9b1b3
1 changed files with 3 additions and 0 deletions
--- a/ArduSub/GCS_Mavlink.cpp
+++ b/ArduSub/GCS_Mavlink.cpp
@ -1187,6 +1187,9 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
                } else {
                    result = MAV_RESULT_FAILED;
                }
+            } else if (is_equal(packet.param5,4.0f)) {
+                // simple accel calibration
+                result = sub.ins.simple_accel_cal(sub.ahrs);
            } else if (is_equal(packet.param6,1.0f)) {
                // compassmot calibration
                //result = sub.mavlink_compassmot(chan);