void ReplayVehicle::setup(void)
{
load_parameters();
// we pass zero log structures, as we will be outputting the log
// structures we need manually, to prevent FMT duplicates
dataflash.Init(log_structure, 0);
dataflash.StartNewLog();
ahrs.set_compass(&compass);
ahrs.set_fly_forward(true);
ahrs.set_wind_estimation(true);
ahrs.set_correct_centrifugal(true);
ahrs.set_ekf_use(true);
EKF2.set_enable(true);
printf("Starting disarmed\n");
hal.util->set_soft_armed(false);
barometer.init();
barometer.setHIL(0);
barometer.update();
compass.init();
ins.set_hil_mode();
}
void ReplayVehicle::setup(void) {
dataflash.Init(log_structure, sizeof(log_structure)/sizeof(log_structure[0]));
dataflash.StartNewLog();
ahrs.set_compass(&compass);
ahrs.set_fly_forward(true);
ahrs.set_wind_estimation(true);
ahrs.set_correct_centrifugal(true);
ahrs.set_ekf_use(true);
printf("Starting disarmed\n");
hal.util->set_soft_armed(false);
barometer.init();
barometer.setHIL(0);
barometer.update();
compass.init();
ins.set_hil_mode();
}