From a3ea80a1f20f9ca082178a0a0265aae5576cd594 Mon Sep 17 00:00:00 2001 From: Willian Galvani Date: Tue, 2 Jul 2024 21:28:43 -0300 Subject: [PATCH] Sub: tell ahrs we can fly multiple directions --- ArduSub/system.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp index 0e02540800..95e7ecd383 100644 --- a/ArduSub/system.cpp +++ b/ArduSub/system.cpp @@ -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());