GCS_MAVLink: handle MAV_CMD_ACCELCAL_VEHICLE_POS in GCS base class

libraries/GCS_MAVLink/GCS.h

@@ -355,6 +355,7 @@ protected:
     virtual MAV_RESULT _handle_command_preflight_calibration_baro();
 
     void handle_command_long(mavlink_message_t* msg);
+    MAV_RESULT handle_command_accelcal_vehicle_pos(const mavlink_command_long_t &packet);
     MAV_RESULT handle_command_mag_cal(const mavlink_command_long_t &packet);
     virtual MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet);
     MAV_RESULT handle_command_camera(const mavlink_command_long_t &packet);

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -2689,12 +2689,23 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_gripper(const mavlink_command_long_t &
     return result;
 }
 
+MAV_RESULT GCS_MAVLINK::handle_command_accelcal_vehicle_pos(const mavlink_command_long_t &packet)
+{
+    if (!AP::ins().get_acal()->gcs_vehicle_position(packet.param1)) {
+        return MAV_RESULT_FAILED;
+    }
+    return MAV_RESULT_ACCEPTED;
+}
+
 MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t &packet)
 {
     MAV_RESULT result = MAV_RESULT_FAILED;
 
     switch (packet.command) {
 
+    case MAV_CMD_ACCELCAL_VEHICLE_POS:
+        result = handle_command_accelcal_vehicle_pos(packet);
+
     case MAV_CMD_DO_SET_MODE:
         result = handle_command_do_set_mode(packet);
         break;