From 9c0984c5058f0a0316e5a4500465c6e557d93e9f Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Tue, 4 Dec 2012 14:00:51 +0900
Subject: [PATCH] ArduCopter: bug fix - initialise inertial nav

---
 ArduCopter/system.pde | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index af1bc6af88..df832abdbb 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -252,6 +252,10 @@ static void init_ardupilot()
         init_optflow();
     }
 
+#if INERTIAL_NAV_XY == ENABLED || INERTIAL_NAV_Z == ENABLED
+    // initialise inertial nav
+    inertial_nav.init();
+#endif
 
 // agmatthews USERHOOKS
 #ifdef USERHOOK_INIT