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Copter: ensure ahrs.init() is called

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This commit is contained in:
Andrew Tridgell 2013-01-13 16:04:04 +11:00
parent c88766850a
commit 36e38eeef7
3 changed files with 6 additions and 3 deletions
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2
ArduCopter/setup.pde
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@ -247,6 +247,7 @@ setup_motors(uint8_t argc, const Menu::arg *argv)
static int8_t static int8_t
setup_accel(uint8_t argc, const Menu::arg *argv) setup_accel(uint8_t argc, const Menu::arg *argv)
{ {
ahrs.init();
ins.init(AP_InertialSensor::COLD_START, ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate, ins_sample_rate,
flash_leds); flash_leds);
@ -285,6 +286,7 @@ static int8_t
setup_accel_scale(uint8_t argc, const Menu::arg *argv) setup_accel_scale(uint8_t argc, const Menu::arg *argv)
{ {
cliSerial->println_P(PSTR("Initialising gyros")); cliSerial->println_P(PSTR("Initialising gyros"));
ahrs.init();
ins.init(AP_InertialSensor::COLD_START, ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate, ins_sample_rate,
flash_leds); flash_leds);

6
ArduCopter/system.pde
View File

@ -333,6 +333,9 @@ static void startup_ground(void)
{ {
gcs_send_text_P(SEVERITY_LOW,PSTR("GROUND START")); gcs_send_text_P(SEVERITY_LOW,PSTR("GROUND START"));
// initialise ahrs (may push imu calibration into the mpu6000 if using that device).
ahrs.init();
// Warm up and read Gyro offsets // Warm up and read Gyro offsets
// ----------------------------- // -----------------------------
ins.init(AP_InertialSensor::COLD_START, ins.init(AP_InertialSensor::COLD_START,
@ -342,9 +345,6 @@ static void startup_ground(void)
report_ins(); report_ins();
#endif #endif
// initialise ahrs (may push imu calibration into the mpu6000 if using that device).
ahrs.init();
// setup fast AHRS gains to get right attitude // setup fast AHRS gains to get right attitude
ahrs.set_fast_gains(true); ahrs.set_fast_gains(true);

1
ArduCopter/test.pde
View File

@ -461,6 +461,7 @@ test_ins(uint8_t argc, const Menu::arg *argv)
cliSerial->printf_P(PSTR("INS\n")); cliSerial->printf_P(PSTR("INS\n"));
delay(1000); delay(1000);
ahrs.init();
ins.init(AP_InertialSensor::COLD_START, ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate, ins_sample_rate,
flash_leds); flash_leds);