From a8733ae8a808707f7dd476ff10630e792ac34894 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 8 Oct 2014 20:19:18 +0900
Subject: [PATCH] Copter: support pre-flight calibration of gyro

---
 ArduCopter/GCS_Mavlink.pde | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 374ee772f4..7873aea518 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -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) {