Lighten logging, longer timeout for GPS.
@@ -46,10 +46,6 @@ func pollSensors() {
if globalSettings.Sensors_Enabled && !globalStatus.IMUConnected {
log.Println("AHRS Info: attempting IMU connection.")
globalStatus.IMUConnected = initIMU() // I2C accel/gyro/mag.
- } else if globalSettings.Sensors_Enabled {
- log.Println("AHRS Info: IMU already connected.")
- } else {
- log.Println("AHRS Info: sensors disabled, not attempting to connect.")
}
}
}
@@ -242,7 +238,7 @@ func sensorAttitudeSender() {
// Don't necessarily disconnect here, unless AHRSProvider deeply depends on magnetometer
}
- m.WValid = t.Sub(mySituation.LastGroundTrackTime) < 500*time.Millisecond
+ m.WValid = t.Sub(mySituation.LastGroundTrackTime) < 3000*time.Millisecond
if m.WValid {
m.W1 = mySituation.GroundSpeed * math.Sin(float64(mySituation.TrueCourse) * ahrs.Deg)
m.W2 = mySituation.GroundSpeed * math.Cos(float64(mySituation.TrueCourse) * ahrs.Deg)
