From b93a7a9dce389e9d3758f5b2d5217f281df118d0 Mon Sep 17 00:00:00 2001
From: Fredrik Larsson <hayvosh@openpilot.org>
Date: Tue, 23 Sep 2014 05:35:35 +1000
Subject: [PATCH] Arming for Helis on Revo

---
 flight/modules/StateEstimation/filtercf.c        |  2 +-
 flight/modules/StateEstimation/stateestimation.c | 13 +++++--------
 shared/uavobjectdefinition/mpu6000settings.xml   |  2 +-
 3 files changed, 7 insertions(+), 10 deletions(-)

diff --git a/flight/modules/StateEstimation/filtercf.c b/flight/modules/StateEstimation/filtercf.c
index d2e109655..9d5ad1374 100644
--- a/flight/modules/StateEstimation/filtercf.c
+++ b/flight/modules/StateEstimation/filtercf.c
@@ -223,7 +223,7 @@ static filterResult complementaryFilter(struct data *this, float gyro[3], float
     if (this->first_run) {
 #if defined(PIOS_INCLUDE_HMC5X83)
         // wait until mags have been updated
-        if (!this->magUpdated) {
+        if (!this->magUpdated && this->useMag) {
             return FILTERRESULT_ERROR;
         }
 #else
diff --git a/flight/modules/StateEstimation/stateestimation.c b/flight/modules/StateEstimation/stateestimation.c
index cf33bbbc4..3a4a6697e 100644
--- a/flight/modules/StateEstimation/stateestimation.c
+++ b/flight/modules/StateEstimation/stateestimation.c
@@ -162,17 +162,14 @@ static float gyroDelta[3];
 
 // preconfigured filter chains selectable via revoSettings.FusionAlgorithm
 static const filterPipeline *cfQueue = &(filterPipeline) {
-    .filter = &magFilter,
+    .filter = &airFilter,
     .next   = &(filterPipeline) {
-        .filter = &airFilter,
+        .filter = &baroiFilter,
         .next   = &(filterPipeline) {
-            .filter = &baroiFilter,
+            .filter = &altitudeFilter,
             .next   = &(filterPipeline) {
-                .filter = &altitudeFilter,
-                .next   = &(filterPipeline) {
-                    .filter = &cfFilter,
-                    .next   = NULL,
-                }
+                .filter = &cfFilter,
+                .next   = NULL,
             }
         }
     }
diff --git a/shared/uavobjectdefinition/mpu6000settings.xml b/shared/uavobjectdefinition/mpu6000settings.xml
index 943243fa7..59d469c78 100644
--- a/shared/uavobjectdefinition/mpu6000settings.xml
+++ b/shared/uavobjectdefinition/mpu6000settings.xml
@@ -1,7 +1,7 @@
 <xml>
     <object name="Mpu6000Settings" singleinstance="true" settings="true" category="Sensors">
         <description>Settings for the @ref MPU6000 sensor used on CC3D and Revolution. Reboot the board for this to takes effect</description>
-        <field name="GyroScale" units="deg/s" type="enum" elements="1" defaultvalue="Scale_2000">
+        <field name="GyroScale" units="deg/s" type="enum" elements="1" defaultvalue="Scale_1000">
             <options>
                 <option>Scale_250</option>
                 <option>Scale_500</option>