From c3f3ee03d08a2aa17938c23adb4d06896eb157f6 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 27 Sep 2018 10:41:26 +0900
Subject: [PATCH] Rover: windvane calibration can be started with
 preflight-calibration msg

send COMMAND_LONG with MAV_CMD_PREFLIGHT_CALIBRATION command and set param6 field to 3
---
 APMrover2/GCS_Mavlink.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index 3a2e8392d4..c39d9701ba 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -584,6 +584,12 @@ MAV_RESULT GCS_MAVLINK_Rover::_handle_command_preflight_calibration(const mavlin
         } else {
             return MAV_RESULT_FAILED;
         }
+    } else if (is_equal(packet.param6, 1.0f)) {
+        if (rover.g2.windvane.start_calibration()) {
+            return MAV_RESULT_ACCEPTED;
+        } else {
+            return MAV_RESULT_FAILED;
+        }
     }
 
     return GCS_MAVLINK::_handle_command_preflight_calibration(packet);