From bd843284408afa53059c13563be4935b510d675f Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Sat, 21 Mar 2015 13:30:16 -0700
Subject: [PATCH] AP_InertialSensor: hack to "reset" the accel filter before
 taking a cal sample

---
 libraries/AP_InertialSensor/AP_InertialSensor.cpp | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index d65cf9fa94..53f82e5c6b 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -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) {