From fef0ed466f6bd4cb5c6baebdcabc0faf2ff71150 Mon Sep 17 00:00:00 2001
From: Eric Westphal <BonanzaEric@gmail.com>
Date: Sat, 24 Jun 2017 14:46:47 -0400
Subject: [PATCH] Fix some bad initializations.

---
 goflying           | 2 +-
 main/sensors.go    | 1 -
 sensors/mpu9250.go | 3 ---
 3 files changed, 1 insertion(+), 5 deletions(-)

diff --git a/goflying b/goflying
index 083dd940..c896f766 160000
--- a/goflying
+++ b/goflying
@@ -1 +1 @@
-Subproject commit 083dd940f35eed0505f3cded7d8b6aa5f70b4e35
+Subproject commit c896f766083f44a7a27f1a607ef6f473c4209a29
diff --git a/main/sensors.go b/main/sensors.go
index 47fbd0dc..d04f8885 100644
--- 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
index 5a17e95a..dcba194e 100644
--- 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
 }