From 79b910abd22dc1259ff08059ac037493cef46c73 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 1 Feb 2014 11:04:00 +0100
Subject: [PATCH] Enable RC calibration mode during RC calibration to tell
 vehicle to ignore stick inputs for that period

---
 src/uas/UAS.cc                | 10 +++++++++-
 src/uas/UAS.h                 |  1 +
 src/uas/UASInterface.h        |  1 +
 src/ui/QGCPX4VehicleConfig.cc |  4 ++++
 4 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index d9ce1c45d..f9da2dd02 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -1661,7 +1661,15 @@ void UAS::startRadioControlCalibration()
 {
     mavlink_message_t msg;
     // Param 1: gyro cal, param 2: mag cal, param 3: pressure cal, Param 4: radio
-    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0, 0, 0, 1, 0, 0, 0);
+    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0, 0, 0, 1, 0, 0, 0);
+    sendMessage(msg);
+}
+
+void UAS::endRadioControlCalibration()
+{
+    mavlink_message_t msg;
+    // Param 1: gyro cal, param 2: mag cal, param 3: pressure cal, Param 4: radio
+    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0, 0, 0, 0, 0, 0, 0);
     sendMessage(msg);
 }
 
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index 6ea24ad2e..d93810012 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -912,6 +912,7 @@ public slots:
     void setLocalPositionOffset(float x, float y, float z, float yaw);
 
     void startRadioControlCalibration();
+    void endRadioControlCalibration();
     void startMagnetometerCalibration();
     void startGyroscopeCalibration();
     void startPressureCalibration();
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index e3d59cfc7..024a31c38 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -371,6 +371,7 @@ public slots:
     virtual void setLocalPositionOffset(float x, float y, float z, float yaw) = 0;
 
     virtual void startRadioControlCalibration() = 0;
+    virtual void endRadioControlCalibration() = 0;
     virtual void startMagnetometerCalibration() = 0;
     virtual void startGyroscopeCalibration() = 0;
     virtual void startPressureCalibration() = 0;
diff --git a/src/ui/QGCPX4VehicleConfig.cc b/src/ui/QGCPX4VehicleConfig.cc
index 5ab600af7..78349ff9f 100644
--- a/src/ui/QGCPX4VehicleConfig.cc
+++ b/src/ui/QGCPX4VehicleConfig.cc
@@ -481,6 +481,8 @@ void QGCPX4VehicleConfig::startCalibrationRC()
         return;
     }
 
+    mav->startRadioControlCalibration();
+
     // reset all channel mappings above Ch 5 to invalid/unused value before starting calibration
     for (unsigned int j= 5; j < chanMappedMax; j++) {
         rcMapping[j] = -1;
@@ -529,6 +531,8 @@ void QGCPX4VehicleConfig::stopCalibrationRC()
     if (!calibrationEnabled)
         return;
 
+    mav->endRadioControlCalibration();
+
     // Try to identify inverted channels, but only for R/P/Y/T
     for (int i = 0; i < 4; i++) {
         detectChannelInversion(i);
-- 
2.22.0