From 6d811cc4dbff7932e47d019d4757db7ef25cb081 Mon Sep 17 00:00:00 2001
From: peabody124 <peabody124>
Date: Sun, 26 Sep 2010 03:06:57 +0000
Subject: [PATCH] OP-140 AHRS: Don't run INSGPS until OP says board is
 initialized.  This will also block heart beat.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1767 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/AHRS/ahrs.c | 26 +++++---------------------
 1 file changed, 5 insertions(+), 21 deletions(-)

diff --git a/flight/AHRS/ahrs.c b/flight/AHRS/ahrs.c
index a8c39ebb9..5e0bbcdd6 100644
--- a/flight/AHRS/ahrs.c
+++ b/flight/AHRS/ahrs.c
@@ -155,7 +155,6 @@ struct gps_sensor {
 void process_spi_request(void);
 void downsample_data(void);
 void calibrate_sensors(void);
-void converge_insgps();
 void reset_values();
 
 volatile uint32_t last_counter_idle_start = 0;
@@ -234,11 +233,11 @@ int main()
 		fir_coeffs[i] = 1;
 	fir_coeffs[adc_oversampling] = adc_oversampling;
 
-	if (ahrs_algorithm == INSGPS_Algo) {
-		// compute a data point and initialize INS
-		downsample_data();
-		converge_insgps();
-	}
+	INSGPSInit();
+
+	while(initialized != AHRS_INITIALIZED)
+		process_spi_request();
+	
 #ifdef DUMP_RAW
 	int previous_conversion;
 	while (1) {
@@ -644,21 +643,6 @@ void calibrate_sensors()
 	mag_data.calibration.variance[2] = mag_data.calibration.variance[2] / j - pow(mag_data.calibration.bias[2],2);
 }
 
-/**
- * @brief Quickly initialize INS assuming stationary and gravity is down
- *
- * Currently this is done iteratively but I'm sure it can be directly computed
- * when I sit down and work it out
- */
-void converge_insgps()
-{
-	float mag_var[3] = {mag_data.calibration.variance[1], mag_data.calibration.variance[0], mag_data.calibration.variance[2]}; // order swap
-	INSGPSInit();
-	INSSetAccelVar(accel_data.calibration.variance);
-	INSSetGyroVar(gyro_data.calibration.variance);
-	INSSetMagVar(mag_var);
-}
-
 /**
  * @brief Populate fields with initial values
  */