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[fix][fixedwing] init state interface _before_ sensors and ins

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This had the very very nasty effect that the local coordinate system was not initialized
if NavSetGroundReferenceHere() was not called from the fliht plan,
(e.g. because not waitinf for GeoInit to finish).
This commit is contained in:
Felix Ruess
2013-07-23 18:46:21 +02:00
parent 81265be0a9
commit 635a14dbb0
1 changed files with 4 additions and 2 deletions
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sw/airborne/firmwares/fixedwing/main_ap.c
+4 -2
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@@ -155,6 +155,10 @@ void init_ap( void ) {
mcu_init(); mcu_init();
#endif /* SINGLE_MCU */ #endif /* SINGLE_MCU */
/****** initialize and reset state interface ********/
stateInit();
/************* Sensors initialization ***************/ /************* Sensors initialization ***************/
#if USE_GPS #if USE_GPS
gps_init(); gps_init();
@@ -178,8 +182,6 @@ void init_ap( void ) {
ins_init(); ins_init();
stateInit();
/************* Links initialization ***************/ /************* Links initialization ***************/
#if defined MCU_SPI_LINK || defined MCU_UART_LINK #if defined MCU_SPI_LINK || defined MCU_UART_LINK
link_mcu_init(); link_mcu_init();