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diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp
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+++ b/src/modules/commander/gyro_calibration.cpp
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+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file gyro_calibration.cpp
+ *
+ * Gyroscope calibration routine
+ */
+
+#include "gyro_calibration.h"
+#include "calibration_messages.h"
+#include "commander_helper.h"
+
+#include <stdio.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <math.h>
+#include <drivers/drv_hrt.h>
+#include <uORB/topics/sensor_combined.h>
+#include <drivers/drv_gyro.h>
+#include <mavlink/mavlink_log.h>
+#include <systemlib/param/param.h>
+#include <systemlib/err.h>
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+static const char *sensor_name = "gyro";
+
+int do_gyro_calibration(int mavlink_fd)
+{
+	mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
+	mavlink_log_info(mavlink_fd, "don't move system");
+
+	struct gyro_scale gyro_scale = {
+		0.0f,
+		1.0f,
+		0.0f,
+		1.0f,
+		0.0f,
+		1.0f,
+	};
+
+	int res = OK;
+
+	/* reset all offsets to zero and all scales to one */
+	int fd = open(GYRO_DEVICE_PATH, 0);
+	res = ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale);
+	close(fd);
+
+	if (res != OK) {
+		mavlink_log_critical(mavlink_fd, CAL_FAILED_RESET_CAL_MSG);
+	}
+
+	if (res == OK) {
+		/* determine gyro mean values */
+		const unsigned calibration_count = 5000;
+		unsigned calibration_counter = 0;
+		unsigned poll_errcount = 0;
+
+		/* subscribe to gyro sensor topic */
+		int sub_sensor_gyro = orb_subscribe(ORB_ID(sensor_gyro));
+		struct gyro_report gyro_report;
+
+		while (calibration_counter < calibration_count) {
+			/* wait blocking for new data */
+			struct pollfd fds[1];
+			fds[0].fd = sub_sensor_gyro;
+			fds[0].events = POLLIN;
+
+			int poll_ret = poll(fds, 1, 1000);
+
+			if (poll_ret > 0) {
+				orb_copy(ORB_ID(sensor_gyro), sub_sensor_gyro, &gyro_report);
+				gyro_scale.x_offset += gyro_report.x;
+				gyro_scale.y_offset += gyro_report.y;
+				gyro_scale.z_offset += gyro_report.z;
+				calibration_counter++;
+
+				if (calibration_counter % (calibration_count / 20) == 0)
+					mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter * 100) / calibration_count);
+
+			} else {
+				poll_errcount++;
+			}
+
+			if (poll_errcount > 1000) {
+				mavlink_log_critical(mavlink_fd, CAL_FAILED_SENSOR_MSG);
+				res = ERROR;
+				break;
+			}
+		}
+
+		close(sub_sensor_gyro);
+
+		gyro_scale.x_offset /= calibration_count;
+		gyro_scale.y_offset /= calibration_count;
+		gyro_scale.z_offset /= calibration_count;
+	}
+
+	if (res == OK) {
+		/* check offsets */
+		if (!isfinite(gyro_scale.x_offset) || !isfinite(gyro_scale.y_offset) || !isfinite(gyro_scale.z_offset)) {
+			mavlink_log_critical(mavlink_fd, "ERROR: offset is NaN");
+			res = ERROR;
+		}
+	}
+
+	if (res == OK) {
+		/* set offset parameters to new values */
+		if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_scale.x_offset))
+		    || param_set(param_find("SENS_GYRO_YOFF"), &(gyro_scale.y_offset))
+		    || param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_scale.z_offset))) {
+			mavlink_log_critical(mavlink_fd, "ERROR: failed to set offset params");
+			res = ERROR;
+		}
+	}
+
+#if 0
+	/* beep on offset calibration end */
+	mavlink_log_info(mavlink_fd, "gyro offset calibration done");
+	tune_neutral();
+
+	/* scale calibration */
+	/* this was only a proof of concept and is currently not working. scaling will be set to 1.0 for now. */
+
+	mavlink_log_info(mavlink_fd, "offset done. Rotate for scale 30x or wait 5s to skip.");
+	warnx("offset calibration finished. Rotate for scale 30x, or do not rotate and wait for 5 seconds to skip.");
+
+	/* apply new offsets */
+	fd = open(GYRO_DEVICE_PATH, 0);
+
+	if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale))
+		warn("WARNING: failed to apply new offsets for gyro");
+
+	close(fd);
+
+
+	unsigned rotations_count = 30;
+	float gyro_integral = 0.0f;
+	float baseline_integral = 0.0f;
+
+	// XXX change to mag topic
+	orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw);
+
+	float mag_last = -atan2f(raw.magnetometer_ga[1], raw.magnetometer_ga[0]);
+
+	if (mag_last > M_PI_F) mag_last -= 2 * M_PI_F;
+
+	if (mag_last < -M_PI_F) mag_last += 2 * M_PI_F;
+
+
+	uint64_t last_time = hrt_absolute_time();
+	uint64_t start_time = hrt_absolute_time();
+
+	while ((int)fabsf(baseline_integral / (2.0f * M_PI_F)) < rotations_count) {
+
+		/* abort this loop if not rotated more than 180 degrees within 5 seconds */
+		if ((fabsf(baseline_integral / (2.0f * M_PI_F)) < 0.6f)
+		    && (hrt_absolute_time() - start_time > 5 * 1e6)) {
+			mavlink_log_info(mavlink_fd, "scale skipped, gyro calibration done");
+			close(sub_sensor_combined);
+			return OK;
+		}
+
+		/* wait blocking for new data */
+		struct pollfd fds[1];
+		fds[0].fd = sub_sensor_combined;
+		fds[0].events = POLLIN;
+
+		int poll_ret = poll(fds, 1, 1000);
+
+		if (poll_ret) {
+
+			float dt_ms = (hrt_absolute_time() - last_time) / 1e3f;
+			last_time = hrt_absolute_time();
+
+			orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw);
+
+			// XXX this is just a proof of concept and needs world / body
+			// transformation and more
+
+			//math::Vector2f magNav(raw.magnetometer_ga);
+
+			// calculate error between estimate and measurement
+			// apply declination correction for true heading as well.
+			//float mag = -atan2f(magNav(1),magNav(0));
+			float mag = -atan2f(raw.magnetometer_ga[1], raw.magnetometer_ga[0]);
+
+			if (mag > M_PI_F) mag -= 2 * M_PI_F;
+
+			if (mag < -M_PI_F) mag += 2 * M_PI_F;
+
+			float diff = mag - mag_last;
+
+			if (diff > M_PI_F) diff -= 2 * M_PI_F;
+
+			if (diff < -M_PI_F) diff += 2 * M_PI_F;
+
+			baseline_integral += diff;
+			mag_last = mag;
+			// Jump through some timing scale hoops to avoid
+			// operating near the 1e6/1e8 max sane resolution of float.
+			gyro_integral += (raw.gyro_rad_s[2] * dt_ms) / 1e3f;
+
+//			warnx("dbg: b: %6.4f, g: %6.4f", (double)baseline_integral, (double)gyro_integral);
+
+			// } else if (poll_ret == 0) {
+			// 	/* any poll failure for 1s is a reason to abort */
+			// 	mavlink_log_info(mavlink_fd, "gyro calibration aborted, retry");
+			// 	return;
+		}
+	}
+
+	float gyro_scale = baseline_integral / gyro_integral;
+
+	warnx("gyro scale: yaw (z): %6.4f", (double)gyro_scale);
+	mavlink_log_info(mavlink_fd, "gyro scale: yaw (z): %6.4f", (double)gyro_scale);
+
+
+	if (!isfinite(gyro_scale.x_scale) || !isfinite(gyro_scale.y_scale) || !isfinite(gyro_scale.z_scale)) {
+		mavlink_log_info(mavlink_fd, "gyro scale calibration FAILED (NaN)");
+		close(sub_sensor_gyro);
+		mavlink_log_critical(mavlink_fd, "gyro calibration failed");
+		return ERROR;
+	}
+
+	/* beep on calibration end */
+	mavlink_log_info(mavlink_fd, "gyro scale calibration done");
+	tune_neutral();
+
+#endif
+
+	if (res == OK) {
+		/* set scale parameters to new values */
+		if (param_set(param_find("SENS_GYRO_XSCALE"), &(gyro_scale.x_scale))
+		    || param_set(param_find("SENS_GYRO_YSCALE"), &(gyro_scale.y_scale))
+		    || param_set(param_find("SENS_GYRO_ZSCALE"), &(gyro_scale.z_scale))) {
+			mavlink_log_critical(mavlink_fd, "ERROR: failed to set scale params");
+			res = ERROR;
+		}
+	}
+
+	if (res == OK) {
+		/* apply new scaling and offsets */
+		fd = open(GYRO_DEVICE_PATH, 0);
+		res = ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale);
+		close(fd);
+
+		if (res != OK) {
+			mavlink_log_critical(mavlink_fd, CAL_FAILED_APPLY_CAL_MSG);
+		}
+	}
+
+	if (res == OK) {
+		/* auto-save to EEPROM */
+		res = param_save_default();
+
+		if (res != OK) {
+			mavlink_log_critical(mavlink_fd, CAL_FAILED_SAVE_PARAMS_MSG);
+		}
+	}
+
+	if (res == OK) {
+		mavlink_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name);
+
+	} else {
+		mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
+	}
+
+	return res;
+}