From 0f239ae92c1880e45fd9c7c279a58eac7c50c521 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 20 Feb 2013 11:56:38 +1100
Subject: [PATCH] Rover: reset AHRS trim after levelling

---
 APMrover2/system.pde | 1 +
 1 file changed, 1 insertion(+)

diff --git a/APMrover2/system.pde b/APMrover2/system.pde
index e9148544bd..2c32aa95b5 100644
--- a/APMrover2/system.pde
+++ b/APMrover2/system.pde
@@ -417,6 +417,7 @@ static void startup_INS_ground(bool force_accel_level)
         // levelling on each boot, and instead rely on the user to do
         // it once via the ground station	
         ins.init_accel(flash_leds);
+        ahrs.set_trim(Vector3f(0, 0, 0));
 	}
     ahrs.reset();