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DCM: reset the DCM matrix after a ground start

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This commit is contained in:
Andrew Tridgell 2011-12-13 21:33:07 +11:00
parent 0147c7b6c6
commit 1998908a05
2 changed files with 3 additions and 0 deletions
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1
ArduPlane/system.pde
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@ -458,6 +458,7 @@ static void startup_IMU_ground(void)
imu.init(IMU::COLD_START, mavlink_delay, flash_leds, &timer_scheduler); imu.init(IMU::COLD_START, mavlink_delay, flash_leds, &timer_scheduler);
imu.init_accel(mavlink_delay, flash_leds); imu.init_accel(mavlink_delay, flash_leds);
dcm.set_centripetal(1); dcm.set_centripetal(1);
dcm.matrix_reset();
// read Baro pressure at ground // read Baro pressure at ground
//----------------------------- //-----------------------------

2
ArduPlane/test.pde
View File

@ -502,6 +502,7 @@ test_imu(uint8_t argc, const Menu::arg *argv)
{ {
//Serial.printf_P(PSTR("Calibrating.")); //Serial.printf_P(PSTR("Calibrating."));
imu.init(IMU::COLD_START, delay, flash_leds, &timer_scheduler); imu.init(IMU::COLD_START, delay, flash_leds, &timer_scheduler);
dcm.matrix_reset();
print_hit_enter(); print_hit_enter();
delay(1000); delay(1000);
@ -563,6 +564,7 @@ test_mag(uint8_t argc, const Menu::arg *argv)
// we need the DCM initialised for this test // we need the DCM initialised for this test
imu.init(IMU::COLD_START, delay, flash_leds, &timer_scheduler); imu.init(IMU::COLD_START, delay, flash_leds, &timer_scheduler);
dcm.matrix_reset();
int counter = 0; int counter = 0;
//Serial.printf_P(PSTR("MAG_ORIENTATION: %d\n"), MAG_ORIENTATION); //Serial.printf_P(PSTR("MAG_ORIENTATION: %d\n"), MAG_ORIENTATION);