From fe3943e686a640fa300bbb1a4e12a45f0836ac93 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 31 Oct 2013 09:00:56 +1100
Subject: [PATCH] Plane: faster startup

make it less likely to send wrong INS_PRODUCT_ID, plus don't waste as
much time
---
 ArduPlane/system.pde | 9 +--------
 1 file changed, 1 insertion(+), 8 deletions(-)

diff --git a/ArduPlane/system.pde b/ArduPlane/system.pde
index cb4d6fce0b..2764c03b1e 100644
--- a/ArduPlane/system.pde
+++ b/ArduPlane/system.pde
@@ -419,15 +419,8 @@ static void startup_INS_ground(bool do_accel_init)
     }
 
     if (style == AP_InertialSensor::COLD_START) {
-        gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Warming up ADC..."));
-        mavlink_delay(500);
-
-        // Makes the servos wiggle twice - about to begin INS calibration - HOLD LEVEL AND STILL!!
-        // -----------------------
-        demo_servos(2);
-
         gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Beginning INS calibration; do not move plane"));
-        mavlink_delay(1000);
+        mavlink_delay(100);
     }
 
     ahrs.init();