Ensure SensorQuaternion synced with IMUMapping.

goflying

@@ -1 +1 @@
-Subproject commit 2a2fd99f9b9c0222344924b86d45f93d6f982cee
+Subproject commit 083dd940f35eed0505f3cded7d8b6aa5f70b4e35

main/managementinterface.go

@@ -461,6 +461,7 @@ func handleOrientAHRS(w http.ResponseWriter, r *http.Request) {
 			saveSettings()
 			myIMUReader.Close()
 			globalStatus.IMUConnected = false // restart the processes depending on the orientation
+			CageAHRS()
 			log.Printf("AHRS Info: sensor orientation success! forward: %d; up: %d\n", f, u)
 		default: // Cancel the sensor calibration.
 			f = 0

main/sensors.go

@@ -209,6 +209,7 @@ func sensorAttitudeSender() {
 			}
 
 			if needsCage {
+				log.Println("AHRS Info: Caging")
 				ff = *makeSensorRotationMatrix([3]float64{c[0], c[1], c[2]})
 				f[0], f[1], f[2], f[3] = ahrs.RotationMatrixToQuaternion(ff)
 				globalSettings.SensorQuaternion[0] = f[0]