Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Sub: tell ahrs we can fly multiple directions

This commit is contained in:
Willian Galvani 2024-07-02 21:28:43 -03:00 committed by Peter Barker
parent 49e77718ac
commit a3ea80a1f2
1 changed files with 1 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
ArduSub/system.cpp
View File

@ -166,6 +166,7 @@ void Sub::startup_INS_ground()
// initialise ahrs (may push imu calibration into the mpu6000 if using that device).
ahrs.init();
ahrs.set_vehicle_class(AP_AHRS::VehicleClass::SUBMARINE);
ahrs.set_fly_forward(false);
// Warm up and calibrate gyro offsets
ins.init(scheduler.get_loop_rate_hz());