From 92c36114f374fd38e727ce012a0774ac863b49d4 Mon Sep 17 00:00:00 2001
From: peabody124 <peabody124>
Date: Fri, 17 Sep 2010 18:14:20 +0000
Subject: [PATCH] AHRS: No longer reinit after a comms glitch.  Allow time for
 EKF to converge (2-3 seconds) after power up.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1674 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/AHRS/ahrs.c | 1 -
 1 file changed, 1 deletion(-)

diff --git a/flight/AHRS/ahrs.c b/flight/AHRS/ahrs.c
index 9135c8d9d..0d4eba473 100644
--- a/flight/AHRS/ahrs.c
+++ b/flight/AHRS/ahrs.c
@@ -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: