From 53def47216d5bbacdfdb76428c024ba3feaea64e Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Thu, 8 Aug 2013 17:23:51 +0200
Subject: [PATCH] Fixed gyro scale calibration (it was storing scale even
 though the scale calibration was skipped

---
 src/modules/commander/gyro_calibration.cpp | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp
index 9e6909db07..60b747ee0f 100644
--- a/src/modules/commander/gyro_calibration.cpp
+++ b/src/modules/commander/gyro_calibration.cpp
@@ -177,8 +177,12 @@ void do_gyro_calibration(int mavlink_fd)
 
 		/* abort this loop if not rotated more than 180 degrees within 5 seconds */
 		if ((fabsf(baseline_integral / (2.0f * M_PI_F)) < 0.6f)
-			&& (hrt_absolute_time() - start_time > 5 * 1e6))
-			break;
+			&& (hrt_absolute_time() - start_time > 5 * 1e6)) {
+			mavlink_log_info(mavlink_fd, "gyro scale calibration skipped");
+			mavlink_log_info(mavlink_fd, "gyro calibration done");
+			tune_positive();
+			return;
+		}
 
 		/* wait blocking for new data */
 		struct pollfd fds[1];