diff options
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 13 |
1 files changed, 13 insertions, 0 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 7aaf5e5cd..5caf36e19 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -114,6 +114,7 @@ #include "baro_calibration.h" #include "rc_calibration.h" #include "airspeed_calibration.h" +#include "esc_calibration.h" #include "PreflightCheck.h" /* oddly, ERROR is not defined for c++ */ @@ -2708,6 +2709,16 @@ void *commander_low_prio_loop(void *arg) answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); calib_ret = do_airspeed_calibration(mavlink_fd); + } else if ((int)(cmd.param7) == 1) { + /* do esc calibration */ + calib_ret = check_if_batt_disconnected(mavlink_fd); + if(calib_ret == OK) { + answer_command(cmd,VEHICLE_CMD_RESULT_ACCEPTED); + armed.in_esc_calibration_mode = true; + calib_ret = do_esc_calibration(mavlink_fd); + armed.in_esc_calibration_mode = false; + } + } else if ((int)(cmd.param4) == 0) { /* RC calibration ended - have we been in one worth confirming? */ if (status.rc_input_blocked) { @@ -2717,6 +2728,8 @@ void *commander_low_prio_loop(void *arg) mavlink_log_info(mavlink_fd, "CAL: Re-enabling RC IN"); calib_ret = OK; } + /* this always succeeds */ + calib_ret = OK; } if (calib_ret == OK) { |