From 74909ada85b100b5773fa9dfeed216b64618ee8d Mon Sep 17 00:00:00 2001
From: Eric Westphal <BonanzaEric@gmail.com>
Date: Thu, 22 Jun 2017 19:47:25 -0400
Subject: [PATCH] Ensure SensorQuaternion synced with IMUMapping.

---
 goflying                    | 2 +-
 main/managementinterface.go | 1 +
 main/sensors.go             | 1 +
 3 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/goflying b/goflying
index 2a2fd99f9..083dd940f 160000
--- a/goflying
+++ b/goflying
@@ -1 +1 @@
-Subproject commit 2a2fd99f9b9c0222344924b86d45f93d6f982cee
+Subproject commit 083dd940f35eed0505f3cded7d8b6aa5f70b4e35
diff --git a/main/managementinterface.go b/main/managementinterface.go
index 19c00cecb..062c00b91 100644
--- 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
index 43cc0da74..47fbd0dc6 100644
--- 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]