commander: add sensors reset to factory calibration

src/modules/commander/Commander.cpp

@@ -1327,6 +1327,10 @@ Commander::handle_command(const vehicle_command_s &cmd)
 				} else if (((int)(cmd.param1)) == 2) {
 					answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
 					_worker_thread.startTask(WorkerThread::Request::ParamResetAll);
+
+				} else if (((int)(cmd.param1)) == 3) {
+					answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
+					_worker_thread.startTask(WorkerThread::Request::ParamResetSensorFactory);
 				}
 			}
 

src/modules/commander/worker_thread.cpp

@@ -42,8 +42,12 @@
 #include "rc_calibration.h"
 
 #include <px4_platform_common/log.h>
+#include <px4_platform_common/shutdown.h>
 #include <parameters/param.h>
 
+
+using namespace time_literals;
+
 WorkerThread::~WorkerThread()
 {
 	if (_state.load() == (int)State::Running) {
@@ -161,6 +165,15 @@ void WorkerThread::threadEntry()
 		param_reset_all();
 		_ret_value = 0;
 		break;
+
+	case Request::ParamResetSensorFactory:
+		const char *reset_cal[] = { "CAL_ACC*", "CAL_GYRO*", "CAL_MAG*" };
+		param_reset_specific(reset_cal, sizeof(reset_cal) / sizeof(reset_cal[0]));
+		_ret_value = param_save_default();
+#if defined(CONFIG_BOARDCTL_RESET)
+		px4_reboot_request(false, 400_ms);
+#endif // CONFIG_BOARDCTL_RESET
+		break;
 	}
 
 	_state.store((int)State::Finished); // set this last to signal the main thread we're done

src/modules/commander/worker_thread.hpp

@@ -62,6 +62,7 @@ public:
 		ParamLoadDefault,
 		ParamSaveDefault,
 		ParamResetAll,
+		ParamResetSensorFactory,
 	};
 
 	WorkerThread() = default;