Fix some bad initializations.

skandhurkat · Jun 24, 2017 · fef0ed4 · fef0ed4
1 parent 74909ad
commit fef0ed4
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Showing 3 changed files with 1 addition and 5 deletions.
diff --git a/goflying b/goflying
diff --git a/main/sensors.go b/main/sensors.go
@@ -129,7 +129,6 @@ func initIMU() (ok bool) {
 	imu, err := sensors.NewMPU9250()
 	if err == nil {
 		myIMUReader = imu
-		time.Sleep(200 * time.Millisecond)
 		log.Println("AHRS Info: Successfully connected MPU9250")
 		return true
 	}

diff --git a/sensors/mpu9250.go b/sensors/mpu9250.go
@@ -36,13 +36,10 @@ func NewMPU9250() (*MPU9250, error) {
 	}
 
 	// Set Gyro (Accel) LPFs to 20 (21) Hz to filter out prop/glareshield vibrations above 1200 (1260) RPM
-	log.Println("AHRS Info: Setting MPU9250 LPF")
 	mpu.SetGyroLPF(21)
 	mpu.SetAccelLPF(21)
-	time.Sleep(100 * time.Millisecond)
 
 	m.mpu = mpu
-
 	log.Println("AHRS Info: monitoring IMU")
 	return &m, nil
 }