/** * Initialise the module. Called before the start function * \returns 0 on success or -1 if initialisation failed */ int32_t SensorsInitialize(void) { GyrosInitialize(); GyrosBiasInitialize(); AccelsInitialize(); MagnetometerInitialize(); MagBiasInitialize(); RevoCalibrationInitialize(); AttitudeSettingsInitialize(); rotate = 0; RevoCalibrationConnectCallback(&settingsUpdatedCb); AttitudeSettingsConnectCallback(&settingsUpdatedCb); return 0; }
/** * Initialise the module. Called before the start function * \returns 0 on success or -1 if initialisation failed */ int32_t SensorsInitialize(void) { accel_bias[0] = rand_gauss() / 10; accel_bias[1] = rand_gauss() / 10; accel_bias[2] = rand_gauss() / 10; AccelsInitialize(); AttitudeSimulatedInitialize(); BaroAltitudeInitialize(); BaroAirspeedInitialize(); GyrosInitialize(); GyrosBiasInitialize(); GPSPositionInitialize(); GPSVelocityInitialize(); MagnetometerInitialize(); MagBiasInitialize(); return 0; }