From 65557bfa8d350bc45b3f7a321818354b29b1f379 Mon Sep 17 00:00:00 2001
From: Willian Galvani <williangalvani@gmail.com>
Date: Mon, 17 Jan 2022 13:56:09 -0300
Subject: [PATCH] ardupilotmega: use params 6 and 7 of MAV_CMD_DO_START_MAG_CAL
 to pass lon/lat

This will improve the calibration of compasses on vehicles not equipped with a GPS.
As `fix_radius()` in step two of calibration requires a GPS lock.
---
 message_definitions/v1.0/ardupilotmega.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/message_definitions/v1.0/ardupilotmega.xml b/message_definitions/v1.0/ardupilotmega.xml
index b98ad3de1a..165ff8c403 100644
--- a/message_definitions/v1.0/ardupilotmega.xml
+++ b/message_definitions/v1.0/ardupilotmega.xml
@@ -158,8 +158,8 @@
         <param index="3" label="Autosave" minValue="0" maxValue="1" increment="1">Save without user input (0=require input, 1=autosave).</param>
         <param index="4" label="Delay" units="s">Delay.</param>
         <param index="5" label="Autoreboot" minValue="0" maxValue="1" increment="1">Autoreboot (0=user reboot, 1=autoreboot).</param>
-        <param index="6">Empty.</param>
-        <param index="7">Empty.</param>
+        <param index="6" label="Latitude" units="deg">Latitude where calibration is happening, for vehicles with no GPS (0 means ignore).</param>
+        <param index="7" label="Longitude" units="deg">Longitude where calibration is happening, for vehicles with no GPS (0 means ignore).</param>
       </entry>
       <entry value="42425" name="MAV_CMD_DO_ACCEPT_MAG_CAL" hasLocation="false" isDestination="false">
         <description>Accept a magnetometer calibration.</description>