Fix for IMU2-related BAD ACCELL HEALTH error

dipspb · Nov 5, 2015 · 0a766e2 · 0a766e2
1 parent ce60265
commit 0a766e2
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
@@ -330,6 +330,10 @@ PX4FMU::init()
 	/* reset GPIOs */
 	gpio_reset();
 
+	/* reset sensors */
+	/* to properly discharge lsm303d to avoid BAD ACCEL HEALTH error on IMU2 */
+	sensor_reset(20 /* ms */);
+
 	/* start the IO interface task */
 	_task = task_spawn_cmd("fmuservo",
 			       SCHED_DEFAULT,