GCS_MAVLink: tidy handling of barometer calibrations

libraries/GCS_MAVLink/GCS.h

@@ -303,6 +303,7 @@ protected:
     virtual MAV_RESULT handle_command_preflight_calibration(const mavlink_command_long_t &packet);
 
     virtual MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet);
+    virtual MAV_RESULT _handle_command_preflight_calibration_baro();
 
     MAV_RESULT handle_command_mag_cal(const mavlink_command_long_t &packet);
     MAV_RESULT handle_command_long_message(mavlink_command_long_t &packet);

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -2229,6 +2229,16 @@ bool GCS_MAVLINK::calibrate_gyros()
     return true;
 }
 
+MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration_baro()
+{
+    // fast barometer calibration
+    gcs().send_text(MAV_SEVERITY_INFO, "Updating barometer calibration");
+    AP::baro().update_calibration();
+    gcs().send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
+
+    return MAV_RESULT_ACCEPTED;
+}
+
 MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
 {
     if (is_equal(packet.param1,1.0f)) {
@@ -2238,6 +2248,10 @@ MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration(const mavlink_comm
         return MAV_RESULT_ACCEPTED;
     }
 
+    if (is_equal(packet.param3,1.0f)) {
+        return _handle_command_preflight_calibration_baro();
+    }
+
     if (is_equal(packet.param5,1.0f)) {
         // start with gyro calibration
         if (!calibrate_gyros()) {