Copter: sipport MAV_CMD_ACCELCAL_VEHICLE_POS

ArduCopter/GCS_Mavlink.cpp

@@ -1498,6 +1498,14 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
             break;
         }
 
+        case MAV_CMD_ACCELCAL_VEHICLE_POS:
+            result = MAV_RESULT_FAILED;
+
+            if (copter.ins.get_acal()->gcs_vehicle_position(packet.param1)) {
+                result = MAV_RESULT_ACCEPTED;
+            }
+            break;
+
         default:
             result = MAV_RESULT_UNSUPPORTED;
             break;