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Copter: int gyros on arm, not on first boot

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this makes first boot much faster
This commit is contained in:
Andrew Tridgell 2013-10-30 09:23:47 +11:00 committed by Randy Mackay
parent d06d999903
commit 4194b2fdd7
2 changed files with 4 additions and 4 deletions
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2
ArduCopter/motors.pde
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@ -162,7 +162,7 @@ static void init_arm_motors()
if(did_ground_start == false) {
did_ground_start = true;
startup_ground();
startup_ground(true);
}
#if HIL_MODE != HIL_MODE_ATTITUDE

6
ArduCopter/system.pde
View File

@ -253,7 +253,7 @@ static void init_ardupilot()
reset_control_switch();
init_aux_switches();
startup_ground();
startup_ground(false);
#if LOGGING_ENABLED == ENABLED
Log_Write_Startup();
@ -266,7 +266,7 @@ static void init_ardupilot()
//******************************************************************************
//This function does all the calibrations, etc. that we need during a ground start
//******************************************************************************
static void startup_ground(void)
static void startup_ground(bool force_gyro_cal)
{
gcs_send_text_P(SEVERITY_LOW,PSTR("GROUND START"));
@ -275,7 +275,7 @@ static void startup_ground(void)
// Warm up and read Gyro offsets
// -----------------------------
ins.init(AP_InertialSensor::COLD_START,
ins.init(force_gyro_cal?AP_InertialSensor::COLD_START:AP_InertialSensor::WARM_START,
ins_sample_rate);
#if CLI_ENABLED == ENABLED
report_ins();