aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_InertialSensor: hack to "reset" the accel filter before taking a cal sample

Browse Source
This commit is contained in:
Jonathan Challinger 2015-03-21 13:30:16 -07:00
parent b2b42e081a
commit bd84328440
1 changed files with 6 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_InertialSensor/AP_InertialSensor.cpp
View File

@ -508,8 +508,12 @@ bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract* interact
goto failed;
}
// clear out any existing samples from ins
update();
// wait 100ms for ins filter to rise
for (uint8_t k=0; k<10; k++) {
wait_for_sample();
update();
hal.scheduler->delay(10);
}
uint8_t num_samples = 0;
while (num_samples < 32) {