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Code Issues Releases Activity

AHRS: No longer reinit after a comms glitch. Allow time for EKF to converge (2-3 seconds) after power up.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1674 ebee16cc-31ac-478f-84a7-5cbb03baadba
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peabody124 2010-09-17 18:14:20 +00:00 committed by peabody124
parent 8e0c5136c0
commit 92c36114f3
1 changed files with 0 additions and 1 deletions
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flight/AHRS/ahrs.c
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@ -712,7 +712,6 @@ void process_spi_request(void)
case OPAHRS_MSG_V1_REQ_NORTH:
opahrs_msg_v1_init_user_tx (&user_tx_v1, OPAHRS_MSG_V1_RSP_NORTH);
INSSetMagNorth(user_rx_v1.payload.user.v.req.north.Be);
INSGPSInit(); // TODO: Better reinitialization when North is finally established
lfsm_user_set_tx_v1 (&user_tx_v1);
break;
case OPAHRS_MSG_V1_REQ_CALIBRATION: