Rover: move rssi.init and set_control_channels

APMrover2/APMrover2.cpp

@@ -105,8 +105,6 @@ void Rover::setup()
 
     in_auto_reverse = false;
 
-    rssi.init();
-
     init_ardupilot();
 
     // initialise the main loop scheduler

APMrover2/system.cpp

@@ -115,10 +115,10 @@ void Rover::init_ardupilot()
 
     ServoRelayEvents.set_channel_mask(0xFFF0);
 
-    set_control_channels();
-
     battery.init();
 
+    rssi.init();
+
     // keep a record of how many resets have happened. This can be
     // used to detect in-flight resets
     g.num_resets.set_and_save(g.num_resets+1);
@@ -165,6 +165,7 @@ void Rover::init_ardupilot()
 
     rc_override_active = hal.rcin->set_overrides(rc_override, 8);
 
+    set_control_channels();
     init_rc_in();        // sets up rc channels from radio
     init_rc_out();        // sets up the timer libs
 
@@ -420,6 +421,7 @@ void Rover::startup_INS_ground(void)
     mavlink_delay(1000);
 
     ahrs.init();
+    // say to EKF that rover only move by goind forward
     ahrs.set_fly_forward(true);
     ahrs.set_vehicle_class(AHRS_VEHICLE_GROUND);