//******************************************************************************
//This function does all the calibrations, etc. that we need during a ground start
//******************************************************************************
void Copter::startup_ground(bool force_gyro_cal)
{
gcs_send_text_P(SEVERITY_LOW,PSTR("GROUND START"));
// initialise ahrs (may push imu calibration into the mpu6000 if using that device).
ahrs.init();
ahrs.set_vehicle_class(AHRS_VEHICLE_COPTER);
// Warm up and read Gyro offsets
// -----------------------------
ins.init(force_gyro_cal?AP_InertialSensor::COLD_START:AP_InertialSensor::WARM_START,
ins_sample_rate);
#if CLI_ENABLED == ENABLED
report_ins();
#endif
// reset ahrs gyro bias
if (force_gyro_cal) {
ahrs.reset_gyro_drift();
}
// set landed flag
set_land_complete(true);
set_land_complete_maybe(true);
}
// Print the current configuration.
// Called by the setup menu 'show' command.
int8_t Copter::setup_show(uint8_t argc, const Menu::arg *argv)
{
AP_Param *param;
ap_var_type type;
//If a parameter name is given as an argument to show, print only that parameter
if(argc>=2)
{
param=AP_Param::find(argv[1].str, &type);
if(!param)
{
cliSerial->printf("Parameter not found: '%s'\n", argv[1].str);
return 0;
}
AP_Param::show(param, argv[1].str, type, cliSerial);
return 0;
}
// clear the area
print_blanks(8);
report_version();
report_radio();
report_frame();
report_batt_monitor();
report_flight_modes();
report_ins();
report_compass();
report_optflow();
AP_Param::show_all(cliSerial);
return(0);
}
