From 65893cfca505d84585aa893e36d14b9afdf2b74a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 18 Mar 2018 15:22:12 +1100
Subject: [PATCH] Plane: tidy handling of barometer calibrations

---
 ArduPlane/GCS_Mavlink.cpp | 17 ++++++++++-------
 ArduPlane/GCS_Mavlink.h   |  1 +
 ArduPlane/Plane.h         |  1 -
 ArduPlane/sensors.cpp     | 11 -----------
 ArduPlane/system.cpp      |  2 +-
 5 files changed, 12 insertions(+), 20 deletions(-)

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index e266890f45..652a3dc3b1 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -849,19 +849,22 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_preflight_calibration(const mavlink
     return ret;
 }
 
-MAV_RESULT GCS_MAVLINK_Plane::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
+MAV_RESULT GCS_MAVLINK_Plane::_handle_command_preflight_calibration_baro()
 {
-    if (is_equal(packet.param3,1.0f)) {
-        /*
-          baro and airspeed calibration
-        */
-        plane.init_barometer(false);
+    /*
+      baro and airspeed calibration
+    */
+    MAV_RESULT ret = GCS_MAVLINK::_handle_command_preflight_calibration_baro();
+    if (ret == MAV_RESULT_ACCEPTED) {
         if (plane.airspeed.enabled()) {
             plane.zero_airspeed(false);
         }
-        return MAV_RESULT_ACCEPTED;
     }
+    return ret;
+}
 
+MAV_RESULT GCS_MAVLINK_Plane::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
+{
     if (is_equal(packet.param4,1.0f)) {
         /*
           radio trim
diff --git a/ArduPlane/GCS_Mavlink.h b/ArduPlane/GCS_Mavlink.h
index 2f05769bf5..6277491d07 100644
--- a/ArduPlane/GCS_Mavlink.h
+++ b/ArduPlane/GCS_Mavlink.h
@@ -33,6 +33,7 @@ protected:
 
     bool set_mode(uint8_t mode) override;
 
+    MAV_RESULT _handle_command_preflight_calibration_baro() override;
     MAV_RESULT handle_command_preflight_calibration(const mavlink_command_long_t &packet) override;
     MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet) override;
 
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 9869ded917..988b05e91a 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -926,7 +926,6 @@ private:
     void trim_control_surfaces();
     void trim_radio();
     bool rc_failsafe_active(void);
-    void init_barometer(bool full_calibration);
     void init_rangefinder(void);
     void read_rangefinder(void);
     void read_airspeed(void);
diff --git a/ArduPlane/sensors.cpp b/ArduPlane/sensors.cpp
index 8f70356fc8..0d519de436 100644
--- a/ArduPlane/sensors.cpp
+++ b/ArduPlane/sensors.cpp
@@ -1,17 +1,6 @@
 #include "Plane.h"
 #include <AP_RSSI/AP_RSSI.h>
 
-void Plane::init_barometer(bool full_calibration)
-{
-    gcs().send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
-    if (full_calibration) {
-        barometer.calibrate();
-    } else {
-        barometer.update_calibration();
-    }
-    gcs().send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
-}
-
 void Plane::init_rangefinder(void)
 {
     rangefinder.init();
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 545fac7a80..08ca2e392a 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -587,7 +587,7 @@ void Plane::startup_INS_ground(void)
 
     // read Baro pressure at ground
     //-----------------------------
-    init_barometer(true);
+    barometer.calibrate();
 
     if (airspeed.enabled()) {
         // initialize airspeed sensor