MagCalib: ensure we start from a valid state

wpsliu123 · Dec 2, 2017 · c123390 · c123390
1 parent 19c7a80
commit c123390
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Showing 2 changed files with 16 additions and 1 deletion.
diff --git a/MagCalib.cs b/MagCalib.cs
@@ -312,6 +312,21 @@ static void prd_DoWork(object sender, ProgressWorkerEventArgs e, object passdata
             bool havecompass2 = false;
             bool havecompass3 = false;
 
+            if (MainV2.comPort.MAV.param.ContainsKey("COMPASS_OFS_X"))
+            {
+                MainV2.comPort.setParam("COMPASS_OFS_X", 0, true);
+                MainV2.comPort.setParam("COMPASS_OFS_Y", 0, true);
+                MainV2.comPort.setParam("COMPASS_OFS_Z", 0, true);
+
+                MainV2.comPort.setParam("COMPASS_DIA_X", 1, true);
+                MainV2.comPort.setParam("COMPASS_DIA_Y", 1, true);
+                MainV2.comPort.setParam("COMPASS_DIA_Z", 1, true);
+
+                MainV2.comPort.setParam("COMPASS_ODI_X", 0, true);
+                MainV2.comPort.setParam("COMPASS_ODI_Y", 0, true);
+                MainV2.comPort.setParam("COMPASS_ODI_Z", 0, true);
+            }
+
             //compass2 get mag2 offsets
             if (MainV2.comPort.MAV.param.ContainsKey("COMPASS_OFS2_X"))
             {

diff --git a/MissionPlanner.csproj b/MissionPlanner.csproj
@@ -6,7 +6,7 @@
     <OutputType>Exe</OutputType>
     <StartupObject></StartupObject>
     <Authors>Michael Oborne</Authors>
-    <Version>1.3.50.12</Version>    <DebugType>full</DebugType>
+    <Version>1.3.50.13</Version>    <DebugType>full</DebugType>
     <Company>Mission Planner</Company>
     <Product>Mission Planner</Product>
     <Description>Mission Planner ground control station for ardupilot</Description>