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common: document force-save values to PREFLIGHT_CALIBRATION (#2428)

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ArduPilot uses these two values in MAV_CMD_PREFLIGHT_CALIBRATION
to force-accept an existing sensor calibration without re-running it:

  param2 = 76  force-accept current compass calibration as valid
  param5 = 76  force-accept current accelerometer calibration as valid

Co-authored-by: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
Peter Barker
2026-03-18 15:11:23 +11:00
committed by GitHub
parent f81911d57e
commit c1c8d63a1e
1 changed files with 35 additions and 2 deletions
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message_definitions/v1.0/common.xml
+35 -2
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@@ -1084,6 +1084,39 @@
<description>Force reboot/shutdown of the autopilot/component regardless of system state.</description>
</entry>
</enum>
<enum name="PREFLIGHT_CALIBRATION_MAGNETOMETER">
<description>Action for the magnetometer (param2) of MAV_CMD_PREFLIGHT_CALIBRATION.</description>
<entry value="0" name="PREFLIGHT_CALIBRATION_MAGNETOMETER_NONE">
<description>No action.</description>
</entry>
<entry value="1" name="PREFLIGHT_CALIBRATION_MAGNETOMETER_START">
<description>Start magnetometer calibration.</description>
</entry>
<entry value="76" name="PREFLIGHT_CALIBRATION_MAGNETOMETER_FORCE_SAVE">
<description>Force-accept the existing compass calibration as valid without re-running it. Useful after a parameter reload that cleared calibration validity flags.</description>
</entry>
</enum>
<enum name="PREFLIGHT_CALIBRATION_ACCELEROMETER">
<description>Action for the accelerometer (param5) of MAV_CMD_PREFLIGHT_CALIBRATION.</description>
<entry value="0" name="PREFLIGHT_CALIBRATION_ACCELEROMETER_NONE">
<description>No action.</description>
</entry>
<entry value="1" name="PREFLIGHT_CALIBRATION_ACCELEROMETER_FULL">
<description>Full 6-position accelerometer calibration.</description>
</entry>
<entry value="2" name="PREFLIGHT_CALIBRATION_ACCELEROMETER_TRIM">
<description>Board level (trim) calibration.</description>
</entry>
<entry value="3" name="PREFLIGHT_CALIBRATION_ACCELEROMETER_TEMPERATURE">
<description>Accelerometer temperature calibration.</description>
</entry>
<entry value="4" name="PREFLIGHT_CALIBRATION_ACCELEROMETER_SIMPLE">
<description>Simple accelerometer calibration.</description>
</entry>
<entry value="76" name="PREFLIGHT_CALIBRATION_ACCELEROMETER_FORCE_SAVE">
<description>Force-accept the existing accelerometer calibration as valid without re-running it. Useful after a parameter reload that cleared calibration validity flags.</description>
</entry>
</enum>
<!-- The MAV_CMD enum entries describe either: -->
<!-- * the data payload of mission items (as used in the MISSION_ITEM_INT message) -->
<!-- * the data payload of mavlink commands (as used in the COMMAND_INT and COMMAND_LONG messages) -->
@@ -1904,10 +1937,10 @@
<entry value="241" name="MAV_CMD_PREFLIGHT_CALIBRATION" hasLocation="false" isDestination="false">
<description>Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero.</description>
<param index="1" label="Gyro Temperature" minValue="0" maxValue="3" increment="1">1: gyro calibration, 3: gyro temperature calibration</param>
<param index="2" label="Magnetometer" enum="MAV_BOOL">Magnetometer calibration. Values not equal to 0 or 1 are invalid.</param>
<param index="2" label="Magnetometer" enum="PREFLIGHT_CALIBRATION_MAGNETOMETER">Magnetometer calibration action.</param>
<param index="3" label="Ground Pressure" enum="MAV_BOOL">Ground pressure calibration. Values not equal to 0 or 1 are invalid.</param>
<param index="4" label="Remote Control" minValue="0" maxValue="1" increment="1">1: radio RC calibration, 2: RC trim calibration</param>
<param index="5" label="Accelerometer" minValue="0" maxValue="4" increment="1">1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration</param>
<param index="5" label="Accelerometer" enum="PREFLIGHT_CALIBRATION_ACCELEROMETER">Accelerometer calibration action.</param>
<param index="6" label="Compmot or Airspeed" minValue="0" maxValue="2" increment="1">1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration</param>
<param index="7" label="ESC or Baro" minValue="0" maxValue="3" increment="1">1: ESC calibration, 3: barometer temperature calibration</param>
</entry>