From cf7b874b42ce8568a1417a0bd6300a26d777c3b7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 17 Jun 2017 15:22:55 +1000
Subject: [PATCH] Sub: support simple accelcal

---
 ArduSub/GCS_Mavlink.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
index 1279ff2c0a..f7e5789e94 100644
--- 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);