From f9238f7e97a9e0e5b2d89352382c21f70a204a05 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Tue, 19 May 2015 13:15:11 +0200
Subject: [PATCH] UAS: Add ability to calibrate horizon to level

---
 src/uas/UAS.cc         | 3 +++
 src/uas/UASInterface.h | 3 ++-
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 8f148a517..95622e68e 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -1472,6 +1472,9 @@ void UAS::startCalibration(UASInterface::StartCalibrationType calType)
         case StartCalibrationAccel:
             accelCal = 1;
             break;
+        case StartCalibrationLevel:
+            accelCal = 2;
+            break;
     }
     
     mavlink_message_t msg;
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index 4ad625df3..ecdf0683a 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -243,7 +243,8 @@ public:
         StartCalibrationGyro,
         StartCalibrationMag,
         StartCalibrationAirspeed,
-        StartCalibrationAccel
+        StartCalibrationAccel,
+        StartCalibrationLevel
     };
     
     /// Starts the specified calibration
-- 
2.22.0