reset heading to zero when calibrating gyro w/stick combo on hardware without mag

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@427 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-10-02 02:29:52 +00:00 · 2013-10-02 02:29:52 +00:00 · 891bce4e19
parent 3744f36895
commit 891bce4e19
1 changed files with 2 additions and 0 deletions
--- a/src/mw.c
+++ b/src/mw.c
@ -541,6 +541,8 @@ void loop(void)
                        GPS_reset_home_position();
                    if (sensors(SENSOR_BARO))
                        calibratingB = 10; // calibrate baro to new ground level (10 * 25 ms = ~250 ms non blocking)
+                    if (!sensors(SENSOR_MAG))
+                        heading = 0; // reset heading to zero after gyro calibration
                // Inflight ACC Calibration
                } else if (feature(FEATURE_INFLIGHT_ACC_CAL) && (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_HI)) {
                    if (AccInflightCalibrationMeasurementDone) {        // trigger saving into eeprom after landing