Merge pull request #3626 from DonLakeFlyer/RoverRadioCal

Rover radio cal

src/AutoPilotPlugins/Common/RadioComponentController.cc

@@ -206,11 +206,20 @@ void RadioComponentController::_advanceState(void)
 /// @brief Sets up the state machine according to the current step from _currentStep.
 void RadioComponentController::_setupCurrentState(void)
 {
-   const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
-    
-    _statusText->setProperty("text", state->instructions);
-    
-    _setHelpImage(state->image);
+    static const char* msgBeginAPMRover = "Center the Throttle stick as shown in diagram.\nReset all transmitter trims to center.\n\n"
+                                          "Please ensure all motor power is disconnected from the vehicle.\n\n"
+                                          "Click Next to continue";
+    const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
+
+    const char* instructions = state->instructions;
+    const char* helpImage = state->image;
+    if (_vehicle->rover() && _currentStep == 0) {
+        // Hack in center throttle start for Rover. This is to set the correct centered trim for throttle.
+        instructions = msgBeginAPMRover;
+        helpImage = _imageCenter;
+    }
+    _statusText->setProperty("text", instructions);
+    _setHelpImage(helpImage);
     
     _stickDetectChannel = _chanMax();
     _stickDetectSettleStarted = false;

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -148,7 +148,6 @@ void ArduCopterFirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QG
         return;
     }
 
-    vehicle->setFlightMode("Guided");
     QGeoCoordinate coordWithAltitude = gotoCoord;
     coordWithAltitude.setAltitude(vehicle->altitudeRelative()->rawValue().toDouble());
     vehicle->missionManager()->writeArduPilotGuidedMissionItem(coordWithAltitude, false /* altChangeOnly */);