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Copter: calibrate gyros during accel calibration

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This commit is contained in:
Randy Mackay 2015-09-21 12:07:31 +09:00
parent 01c0b20930
commit f3d4b20a80
1 changed files with 10 additions and 1 deletions
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11
ArduCopter/GCS_Mavlink.cpp
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@ -1323,8 +1323,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
result = MAV_RESULT_UNSUPPORTED;
} else if (is_equal(packet.param5,1.0f)) {
// 3d accel calibration
float trim_roll, trim_pitch;
if (!copter.calibrate_gyros()) {
result = MAV_RESULT_FAILED;
break;
}
// this blocks
float trim_roll, trim_pitch;
AP_InertialSensor_UserInteract_MAVLink interact(this);
if(copter.ins.calibrate_accel(&interact, trim_roll, trim_pitch)) {
// reset ahrs's trim to suggested values from calibration routine
@ -1334,6 +1338,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
result = MAV_RESULT_FAILED;
}
} else if (is_equal(packet.param5,2.0f)) {
// calibrate gyros
if (!copter.calibrate_gyros()) {
result = MAV_RESULT_FAILED;
break;
}
// accel trim
float trim_roll, trim_pitch;
if(copter.ins.calibrate_trim(trim_roll, trim_pitch)) {