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