[PhilBot]

So.. Loving the ADAIMU code. Thanks.

Have a problem. If the robot is being moved during startup, the Gyro gets a bad cal.

I see where you make two attempts, but the problem could last longer then that, and I'd realy prefer not to hold up the begin code too long.

I put a filter on the angular rate and check it in Disabled.vi

If it get too large (more than 0.1) I want to do a recal.
Easy with the analog gyro.... Can't figure how to do it with your IMU code

I tried just redoing the open... it failed, looks like coms doesn't like two opens.

There doesn't seem to be an IMUclose.vi

What is the best way to initiate a re-cal, or restart of the IMU?
Don't need a recal on the magnetics, just the gyro.

Phil.