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Copter: fixed baro-only preflight cal

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this was causing a full level, which mucked up the INS calibration
This commit is contained in:
Andrew Tridgell 2013-10-28 16:54:32 +11:00 committed by Randy Mackay
parent 7c4067e154
commit f1ebd036b0
1 changed files with 4 additions and 2 deletions
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6
ArduCopter/GCS_Mavlink.pde
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@ -1210,10 +1210,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_CMD_PREFLIGHT_CALIBRATION: case MAV_CMD_PREFLIGHT_CALIBRATION:
if (packet.param1 == 1 || if (packet.param1 == 1 ||
packet.param2 == 1 || packet.param2 == 1) {
packet.param3 == 1) {
ins.init_accel(); ins.init_accel();
ahrs.set_trim(Vector3f(0,0,0)); // clear out saved trim ahrs.set_trim(Vector3f(0,0,0)); // clear out saved trim
}
if (packet.param3 == 1) {
init_barometer();
} }
if (packet.param4 == 1) { if (packet.param4 == 1) {
trim_radio(); trim_radio();