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ArduCopter: clear ahrs roll and pitch trims after an accel level command

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This commit is contained in:
rmackay9 2012-12-12 17:17:09 +09:00
parent ff9902c5d6
commit e9c1500f33
2 changed files with 4 additions and 2 deletions
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3
ArduCopter/GCS_Mavlink.pde
View File

@ -1090,7 +1090,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if (packet.param1 == 1 ||
packet.param2 == 1 ||
packet.param3 == 1) {
ins.init_accel(mavlink_delay, flash_leds);
ins.init_accel(mavlink_delay, flash_leds); // level accelerometer values
ahrs.set_trim(Vector3f(0,0,0)); // clear out saved trim
}
if (packet.param4 == 1) {
trim_radio();

3
ArduCopter/setup.pde
View File

@ -250,7 +250,8 @@ setup_accel(uint8_t argc, const Menu::arg *argv)
ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate,
delay, flash_leds, &timer_scheduler);
ins.init_accel(delay, flash_leds);
ins.init_accel(delay, flash_leds); // level accelerometer values
ahrs.set_trim(Vector3f(0,0,0)); // clear out saved trim
report_ins();
return(0);
}