Tracker: tidy handling of barometer calibrations

AntennaTracker/GCS_Mavlink.cpp

@@ -446,20 +446,16 @@ uint8_t GCS_MAVLINK_Tracker::sysid_my_gcs() const
     return tracker.g.sysid_my_gcs;
 }
 
-MAV_RESULT GCS_MAVLINK_Tracker::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
+MAV_RESULT GCS_MAVLINK_Tracker::_handle_command_preflight_calibration_baro()
 {
-
-    if (is_equal(packet.param3,1.0f)) {
-        tracker.init_barometer(false);
+    MAV_RESULT ret = GCS_MAVLINK::_handle_command_preflight_calibration_baro();
+    if (ret == MAV_RESULT_ACCEPTED) {
         // zero the altitude difference on next baro update
         tracker.nav_status.need_altitude_calibration = true;
-        return MAV_RESULT_ACCEPTED;
     }
-
-    return GCS_MAVLINK::_handle_command_preflight_calibration(packet);
+    return ret;
 }
 
-
 void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg)
 {
     switch (msg->msgid) {

AntennaTracker/GCS_Mavlink.h

@@ -28,7 +28,7 @@ protected:
 
     bool set_mode(uint8_t mode) override;
 
-    MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet) override;
+    MAV_RESULT _handle_command_preflight_calibration_baro() override;
 
 private:
 

AntennaTracker/Tracker.h

@@ -221,7 +221,6 @@ private:
     void update_scan(void);
     bool servo_test_set_servo(uint8_t servo_num, uint16_t pwm);
     void read_radio();
-    void init_barometer(bool full_calibration);
     void update_barometer(void);
     void update_ahrs();
     void update_compass(void);

AntennaTracker/sensors.cpp

@@ -1,16 +1,5 @@
 #include "Tracker.h"
 
-void Tracker::init_barometer(bool full_calibration)
-{
-    gcs().send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
-    if (full_calibration) {
-        barometer.calibrate();
-    } else {
-        barometer.update_calibration();
-    }
-    gcs().send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
-}
-
 // read the barometer and return the updated altitude in meters
 void Tracker::update_barometer(void)
 {

AntennaTracker/system.cpp

@@ -79,7 +79,7 @@ void Tracker::init_tracker()
     ins.init(scheduler.get_loop_rate_hz());
     ahrs.reset();
 
-    init_barometer(true);
+    barometer.calibrate();
 
     // initialise DataFlash library
     DataFlash.setVehicle_Startup_Log_Writer(FUNCTOR_BIND(&tracker, &Tracker::Log_Write_Vehicle_Startup_Messages, void));