ACM: use ahrs.set_fast_gains() on arm/disarm
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@ -158,6 +158,9 @@ static void init_arm_motors()
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// temp hack
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motor_light = true;
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digitalWrite(A_LED_PIN, LED_ON);
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// go back to normal AHRS gains
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ahrs.set_fast_gains(false);
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}
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@ -181,6 +184,9 @@ static void init_disarm_motors()
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piezo_beep();
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}
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#endif
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// setup fast AHRS gains to get right attitude
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ahrs.set_fast_gains(true);
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}
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/*****************************************
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@ -385,10 +385,14 @@ static void startup_ground(void)
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#if CLI_ENABLED == ENABLED
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report_imu();
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#endif
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// initialise ahrs (may push imu calibration into the mpu6000 if using that device).
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ahrs.init();
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#endif
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// initialise ahrs (may push imu calibration into the mpu6000 if using that device).
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ahrs.init();
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// setup fast AHRS gains to get right attitude
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ahrs.set_fast_gains(true);
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// reset the leds
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// ---------------------------
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clear_leds();
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