Copter: support pre-flight calibration of gyro

10 years ago · a8733ae8a8
1 changed files with 3 additions and 4 deletions
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@ -1100,10 +1100,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
				@@ -1100,10 +1100,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
            break;

        case MAV_CMD_PREFLIGHT_CALIBRATION:
-            if (packet.param1 == 1 ||
-                packet.param2 == 1) {
-                ins.init_accel();
-                ahrs.set_trim(Vector3f(0,0,0));             // clear out saved trim
+            if (packet.param1 == 1) {
+                // gyro offset calibration
+                ins.init_gyro();
                result = MAV_RESULT_ACCEPTED;
            }
            if (packet.param3 == 1) {