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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

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