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Rover: ensure ahrs.init() is called

This commit is contained in:
Andrew Tridgell 2013-01-13 16:03:54 +11:00
parent 848fc3e32d
commit c88766850a
3 changed files with 7 additions and 1 deletions
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1
APMrover2/setup.pde
View File

@ -300,6 +300,7 @@ static int8_t
setup_accel_scale(uint8_t argc, const Menu::arg *argv)
{
cliSerial->println_P(PSTR("Initialising gyros"));
ahrs.init();
ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate,
flash_leds);

3
APMrover2/system.pde
View File

@ -425,6 +425,8 @@ static void startup_INS_ground(bool force_accel_level)
gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Beginning INS calibration; do not move plane"));
mavlink_delay(1000);
ahrs.init();
ahrs.set_fly_forward(true);
ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate,
flash_leds);
@ -434,7 +436,6 @@ static void startup_INS_ground(bool force_accel_level)
// it once via the ground station
ins.init_accel(flash_leds);
}
ahrs.set_fly_forward(true);
ahrs.reset();
#endif // HIL_MODE_ATTITUDE

4
APMrover2/test.pde
View File

@ -425,6 +425,8 @@ static int8_t
test_ins(uint8_t argc, const Menu::arg *argv)
{
//cliSerial->printf_P(PSTR("Calibrating."));
ahrs.init();
ahrs.set_fly_forward(true);
ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate,
flash_leds);
@ -484,6 +486,8 @@ test_mag(uint8_t argc, const Menu::arg *argv)
cliSerial->println_P(PSTR("Compass initialisation failed!"));
return 0;
}
ahrs.init();
ahrs.set_fly_forward(true);
ahrs.set_compass(&compass);
report_compass();