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Plane: ensure ahrs.init() is called

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This commit is contained in:
Andrew Tridgell 2013-01-13 16:04:18 +11:00
parent 36e38eeef7
commit 28352b3548
3 changed files with 15 additions and 3 deletions
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4
ArduPlane/setup.pde
View File

@ -313,6 +313,10 @@ static int8_t
setup_accel_scale(uint8_t argc, const Menu::arg *argv) setup_accel_scale(uint8_t argc, const Menu::arg *argv)
{ {
cliSerial->println_P(PSTR("Initialising gyros")); cliSerial->println_P(PSTR("Initialising gyros"));
ahrs.init();
ahrs.set_fly_forward(true);
ins.init(AP_InertialSensor::COLD_START, ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate, ins_sample_rate,
flash_leds); flash_leds);

9
ArduPlane/system.pde
View File

@ -227,12 +227,13 @@ static void init_ardupilot()
//---------------- //----------------
//read_EEPROM_airstart_critical(); //read_EEPROM_airstart_critical();
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE
ahrs.init();
ahrs.set_fly_forward(true);
ins.init(AP_InertialSensor::WARM_START, ins.init(AP_InertialSensor::WARM_START,
ins_sample_rate, ins_sample_rate,
flash_leds); flash_leds);
ahrs.init();
ahrs.set_fly_forward(true);
#endif #endif
// This delay is important for the APM_RC library to work. // This delay is important for the APM_RC library to work.
@ -442,6 +443,9 @@ static void startup_INS_ground(bool force_accel_level)
gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Beginning INS calibration; do not move plane")); gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Beginning INS calibration; do not move plane"));
mavlink_delay(1000); mavlink_delay(1000);
ahrs.init();
ahrs.set_fly_forward(true);
ins.init(AP_InertialSensor::COLD_START, ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate, ins_sample_rate,
flash_leds); flash_leds);
@ -453,7 +457,6 @@ static void startup_INS_ground(bool force_accel_level)
ins.init_accel(flash_leds); ins.init_accel(flash_leds);
} }
#endif #endif
ahrs.set_fly_forward(true);
ahrs.reset(); ahrs.reset();
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE

5
ArduPlane/test.pde
View File

@ -466,6 +466,9 @@ static int8_t
test_ins(uint8_t argc, const Menu::arg *argv) test_ins(uint8_t argc, const Menu::arg *argv)
{ {
//cliSerial->printf_P(PSTR("Calibrating.")); //cliSerial->printf_P(PSTR("Calibrating."));
ahrs.init();
ahrs.set_fly_forward(true);
ins.init(AP_InertialSensor::COLD_START, ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate, ins_sample_rate,
flash_leds); flash_leds);
@ -525,6 +528,8 @@ test_mag(uint8_t argc, const Menu::arg *argv)
cliSerial->println_P(PSTR("Compass initialisation failed!")); cliSerial->println_P(PSTR("Compass initialisation failed!"));
return 0; return 0;
} }
ahrs.init();
ahrs.set_fly_forward(true);
ahrs.set_compass(&compass); ahrs.set_compass(&compass);
report_compass(); report_compass();