Ensure SensorQuaternion synced with IMUMapping.

cyoung · Jun 22, 2017 · 74909ad · 74909ad
1 parent a2bba20
commit 74909ad
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Showing 3 changed files with 3 additions and 1 deletion.
diff --git a/goflying b/goflying
diff --git a/main/managementinterface.go b/main/managementinterface.go
@@ -461,6 +461,7 @@ func handleOrientAHRS(w http.ResponseWriter, r *http.Request) {
 			saveSettings()
 			myIMUReader.Close()
 			globalStatus.IMUConnected = false // restart the processes depending on the orientation
+			CageAHRS()
 			log.Printf("AHRS Info: sensor orientation success! forward: %d; up: %d\n", f, u)
 		default: // Cancel the sensor calibration.
 			f = 0

diff --git a/main/sensors.go b/main/sensors.go
@@ -209,6 +209,7 @@ func sensorAttitudeSender() {
 			}
 
 			if needsCage {
+				log.Println("AHRS Info: Caging")
 				ff = *makeSensorRotationMatrix([3]float64{c[0], c[1], c[2]})
 				f[0], f[1], f[2], f[3] = ahrs.RotationMatrixToQuaternion(ff)
 				globalSettings.SensorQuaternion[0] = f[0]