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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
This commit is contained in:
peabody124 2010-09-17 18:14:20 +00:00 committed by peabody124
parent 8e0c5136c0
commit 92c36114f3

@ -712,7 +712,6 @@ void process_spi_request(void)
case OPAHRS_MSG_V1_REQ_NORTH: case OPAHRS_MSG_V1_REQ_NORTH:
opahrs_msg_v1_init_user_tx (&user_tx_v1, OPAHRS_MSG_V1_RSP_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); 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); lfsm_user_set_tx_v1 (&user_tx_v1);
break; break;
case OPAHRS_MSG_V1_REQ_CALIBRATION: case OPAHRS_MSG_V1_REQ_CALIBRATION: