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Rover: integrate automatic roll and pitch trims

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This commit is contained in:
Randy Mackay 2013-02-19 13:31:03 +09:00
parent 9c984b18db
commit b7a4814e22
1 changed files with 5 additions and 1 deletions
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6
APMrover2/setup.pde
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@ -296,13 +296,17 @@ setup_erase(uint8_t argc, const Menu::arg *argv)
static int8_t
setup_accel_scale(uint8_t argc, const Menu::arg *argv)
{
float trim_roll, trim_pitch;
cliSerial->println_P(PSTR("Initialising gyros"));
ahrs.init();
ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate,
flash_leds);
AP_InertialSensor_UserInteractStream interact(hal.console);
ins.calibrate_accel(flash_leds, &interact);
if(ins.calibrate_accel(flash_leds, &interact, trim_roll, trim_pitch)) {
// reset ahrs's trim to suggested values from calibration routine
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
}
return(0);
}
#endif