From 1f0885dd4f4b081b5413789b41f9e966c1bc6b24 Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Wed, 9 Apr 2014 19:57:23 +0200
Subject: [PATCH] OP-975 Calibrating a single sensor doesn't mean reset the
 other...

---
 .../src/plugins/config/configrevowidget.cpp   | 22 ++++++++++++++-----
 .../src/plugins/config/configrevowidget.h     |  8 ++++++-
 2 files changed, 23 insertions(+), 7 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
index 6faef0f9b..d0c36a934 100644
--- a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
@@ -435,8 +435,10 @@ void ConfigRevoWidget::doStartSixPointCalibration(bool calibrateAccel, bool cali
     Q_ASSERT(revoCalibration);
     Q_ASSERT(homeLocation);
     RevoCalibration::DataFields revoCalibrationData     = revoCalibration->getData();
+    savedSettings.revoCalibration = revoCalibration->getData();
     HomeLocation::DataFields homeLocationData = homeLocation->getData();
     AccelGyroSettings::DataFields accelGyroSettingsData = accelGyroSettings->getData();
+    savedSettings.accelGyroSettings = accelGyroSettings->getData();
 
     // check if Homelocation is set
     if (!homeLocationData.Set) {
@@ -721,14 +723,22 @@ void ConfigRevoWidget::computeScaleBias(bool mag, bool accel)
                             accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z];
     }
     if (good_calibration) {
-        revoCalibration->setData(revoCalibrationData);
-        accelGyroSettings->setData(accelGyroSettingsData);
+        if(mag){
+            revoCalibration->setData(revoCalibrationData);
+        } else {
+            revoCalibration->setData(savedSettings.revoCalibration);
+        }
+
+        if(accel){
+            accelGyroSettings->setData(accelGyroSettingsData);
+        } else {
+            accelGyroSettings->setData(savedSettings.accelGyroSettings);
+        }
         m_ui->sixPointCalibInstructions->append("Computed sensor scale and bias...");
-    } else {
-        revoCalibrationData   = revoCalibration->getData();
-        accelGyroSettingsData = accelGyroSettings->getData();
-        m_ui->sixPointCalibInstructions->append("Bad calibration. Please repeat.");
     }
+
+    m_ui->sixPointCalibInstructions->append("Bad calibration. Please repeat.");
+
     position = -1; // set to run again
 }
 
diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.h b/ground/openpilotgcs/src/plugins/config/configrevowidget.h
index 0c46880a0..53bf3ce9f 100644
--- a/ground/openpilotgcs/src/plugins/config/configrevowidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.h
@@ -43,9 +43,13 @@
 #include "calibration/thermal/thermalcalibrationmodel.h"
 class Ui_Widget;
 
+
 class ConfigRevoWidget : public ConfigTaskWidget {
     Q_OBJECT
-
+    typedef struct {
+        RevoCalibration::DataFields revoCalibration;
+        AccelGyroSettings::DataFields accelGyroSettings;
+    } SavedSettings;
 public:
     ConfigRevoWidget(QWidget *parent = 0);
     ~ConfigRevoWidget();
@@ -56,6 +60,8 @@ private:
     // ! Computes the scale and bias of the mag based on collected data
     void computeScaleBias(bool mag, bool accel);
 
+    SavedSettings savedSettings;
+
     OpenPilot::ThermalCalibrationModel *m_thermalCalibrationModel;
     Ui_RevoSensorsWidget *m_ui;
     QMutex sensorsUpdateLock;