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Code Issues Releases Activity

Make sure full initialization routine for INSGPS occurs each time it is

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restarted.
This commit is contained in:
James Cotton 2012-03-10 16:05:22 -06:00
parent 372f959c37
commit 319b53a342
1 changed files with 4 additions and 1 deletions
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5
flight/Modules/Attitude/revolution/attitude.c
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@ -464,7 +464,10 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
uint16_t sensors = 0; uint16_t sensors = 0;
float dT; float dT;
inited = first_run ? false : inited; if (first_run) {
inited = false;
init_stage = 0;
}
// Wait until the gyro and accel object is updated, if a timeout then go to failsafe // Wait until the gyro and accel object is updated, if a timeout then go to failsafe
if ( (xQueueReceive(gyroQueue, &ev, 10 / portTICK_RATE_MS) != pdTRUE) || if ( (xQueueReceive(gyroQueue, &ev, 10 / portTICK_RATE_MS) != pdTRUE) ||