From f1ebd036b09c2ff1668e5884c60fe9e8eea6f453 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 28 Oct 2013 16:54:32 +1100
Subject: [PATCH] Copter: fixed baro-only preflight cal

this was causing a full level, which mucked up the INS calibration
---
 ArduCopter/GCS_Mavlink.pde | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 942b26419c..99816b3064 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -1210,10 +1210,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
         case MAV_CMD_PREFLIGHT_CALIBRATION:
             if (packet.param1 == 1 ||
-                packet.param2 == 1 ||
-                packet.param3 == 1) {
+                packet.param2 == 1) {
                 ins.init_accel();
                 ahrs.set_trim(Vector3f(0,0,0));             // clear out saved trim
+            } 
+            if (packet.param3 == 1) {
+                init_barometer();                
             }
             if (packet.param4 == 1) {
                 trim_radio();