From 786b472f475adfaf8ab5897d5cdc8d87845dc339 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Fri, 15 Jan 2016 19:35:50 -0800
Subject: [PATCH] Stop connection lost handling during accel cal

---
 .../APM/APMSensorsComponentController.cc               | 10 ++++++++++
 .../APM/APMSensorsComponentController.h                |  3 ++-
 2 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/src/AutoPilotPlugins/APM/APMSensorsComponentController.cc b/src/AutoPilotPlugins/APM/APMSensorsComponentController.cc
index 2f3c0ead5..1853ca611 100644
--- a/src/AutoPilotPlugins/APM/APMSensorsComponentController.cc
+++ b/src/AutoPilotPlugins/APM/APMSensorsComponentController.cc
@@ -77,6 +77,11 @@ APMSensorsComponentController::APMSensorsComponentController(void) :
     connect(_sensorsComponent, &VehicleComponent::setupCompleteChanged, this, &APMSensorsComponentController::setupNeededChanged);
 }
 
+APMSensorsComponentController::~APMSensorsComponentController()
+{
+    _vehicle->setConnectionLostEnabled(true);
+}
+
 /// Appends the specified text to the status log area in the ui
 void APMSensorsComponentController::_appendStatusLog(const QString& text)
 {
@@ -143,6 +148,10 @@ void APMSensorsComponentController::_resetInternalState(void)
 
 void APMSensorsComponentController::_stopCalibration(APMSensorsComponentController::StopCalibrationCode code)
 {
+    if (_accelCalInProgress) {
+        _vehicle->setConnectionLostEnabled(true);
+    }
+
     disconnect(_uas, &UASInterface::textMessageReceived, this, &APMSensorsComponentController::_handleUASTextMessage);
     
     _compassButton->setEnabled(true);
@@ -193,6 +202,7 @@ void APMSensorsComponentController::calibrateCompass(void)
 
 void APMSensorsComponentController::calibrateAccel(void)
 {
+    _vehicle->setConnectionLostEnabled(false);
     _startLogCalibration();
     _accelCalInProgress = true;
     _uas->startCalibration(UASInterface::StartCalibrationAccel);
diff --git a/src/AutoPilotPlugins/APM/APMSensorsComponentController.h b/src/AutoPilotPlugins/APM/APMSensorsComponentController.h
index 61758fc10..dabdba523 100644
--- a/src/AutoPilotPlugins/APM/APMSensorsComponentController.h
+++ b/src/AutoPilotPlugins/APM/APMSensorsComponentController.h
@@ -41,7 +41,8 @@ class APMSensorsComponentController : public FactPanelController
     
 public:
     APMSensorsComponentController(void);
-    
+    ~APMSensorsComponentController();
+
     Q_PROPERTY(bool fixedWing READ fixedWing CONSTANT)
     
     Q_PROPERTY(QQuickItem* statusLog MEMBER _statusLog)
-- 
2.22.0